Center of mass based inverse kinematics algorithm for bipedal robot motion on inclined surfaces. - Fariz Ali; Barkan Ugurlu; Atsuo Kawamura (AMC, 2010)

An improved trajectory of biped robot for walking along slope. - Fariz Ali; Naoki Motoi; Atsuo Kawamura (Humanoids, 2012)

Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method. - Fariz Ali; Naoki Motoi; Kirill Van Heerden; Atsuo Kawamura (J. Robotics Mechatronics, 2013)