Walking experiments of small and lightweight rimless wheel robot. - Yuta Hanazawa; Haruka Nishinami; Shinichi Sagara (Artif. Life Robotics, 2022)

Energy-efficient limit cycle walking in disturbance based on nonlinear model predictive control. - Yuta Hanazawa; Haruka Nishinami; Shinichi Sagara (Robotica, 2024)