An omni-directional six-legged walking robot. - Toshio Fukuda; Yuji Adachi; Haruo Hoshino; Isao Matsunaga; Fumihito Arai (Adv. Robotics, 1994)

Posture Control of 6-Leg Walking Robot. - Toshio Fukuda; Yuji Adachi; Haruo Hoshino; Kazuhiro Kosuge; Isao Matsunaga; Fumihito Arai (ICRA, 1995)