A simple 3D straight-legged passive walker with flat feet and ankle springs. - Terumasa Narukawa; Kazuto Yokoyama; Masaki Takahashi; Kazuo Yoshida (IROS, 2008)

Passivity-based Nonlinear Stabilizing Control for a Mobile Inverted Pendulum. - Kazuto Yokoyama; Masaki Takahashi (ICINCO (2), 2011)

Dynamics-Based Nonlinear Acceleration Control With Energy Shaping for a Mobile Inverted Pendulum With a Slider Mechanism. - Kazuto Yokoyama; Masaki Takahashi (IEEE Trans. Control. Syst. Technol., 2016)

Strategic Jenga Play via Graph Based Dynamics Modeling. - Kavya Puthuveetil; Xinyi Zhang; Kazuto Yokoyama; Tetsuya Narita (CoRR, 2025)