A Mixed-signal 3D Footstep Planning SoC for Motion Control of Humanoid Robots with Embedded Zero-Moment-Point based Gait Scheduler and Neural Inverse Kinematics. - Qiankai Cao; Juin Chuen Oh; Jie Gu 001 (VLSI Technology and Circuits, 2024)

Humanoid Robot Control: A Mixed-Signal Footstep Planning SoC with ZMP Gait Scheduler and Neural Inverse Kinematics. - Qiankai Cao; Yiqi Li; Juin Chuen Oh; Jie Gu 001 (ASP-DAC, 2025)

A 65-nm Humanoid Robot System-on-Chip Using Time-Domain 3-D Footstep Planning and Mixed-Signal ZMP Gait Scheduler With Inverse Kinematics. - Qiankai Cao; Juin Chuen Oh; Jie Gu 001 (IEEE J. Solid State Circuits, 2025)