Collision Avoidance Method of Humanoid Robot With Arm Force. - Eijirou Ohashi; Takahiro Aiko; Toshiaki Tsuji; Hiroaki Nishi; Kouhei Ohnishi (IEEE Trans. Ind. Electron., 2007)

A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot. - Eijirou Ohashi; Tomoya Sato; Kouhei Ohnishi (IEEE Trans. Ind. Electron., 2009)

Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots. - Tomoya Sato; Sho Sakaino; Eijirou Ohashi; Kouhei Ohnishi (IEEE Trans. Ind. Electron., 2011)