Development of a bipedal humanoid robot presupposing various whole body motions. - Jin'ichi Yamaguchi; Eiji Soga; Samuel Agus Setiawan; Daisuke Aoyagi; Akihiro Nagamatsu; Atsuo Takanishi (Adv. Robotics, 1998)

Development of a Bipedal Humanoid Robot: Control Method of Whole Body Cooperative Dynamic Biped Walking. - Jin'ichi Yamaguchi; Eiji Soga; Sadatoshi Inoue; Atsuo Takanishi (ICRA, 1999)

Humanoid Robots in Waseda University-Hadaly-2 and WABIAN. - Shuji Hashimoto; Seinosuke Narita; Hironori Kasahara; Katsuhiko Shirai; Atsuo Kobayashi; Atsuo Takanishi; Shigeki Sugano; Jin'ichi Yamaguchi; Hideyuki Sawada; Hideaki Takanobu; Koji Shibuya; Toshio Morita; et al. (Auton. Robots, 2002)