Passivity-based balance control for a biped robot. - Ryuta Ozawa; Jun'ya Ishizaki (ICRA, 2011)

Passivity-based symmetric posture control and the effects of mass distribution and internal impedance on balance. - Ryuta Ozawa; Jun'ya Ishizaki (Humanoids, 2012)

Passivity-based posture control of a humanoid robot using a power-conserved transformation. - Ryuta Ozawa; Yuki Kakei; Junya Ishizaki (Adv. Robotics, 2021)