PI type hierarchical feedback control scheme for pneumatic robots. - Sadao Kawamura; Keiichiro Miyata; Hideo Hanafusa; Kiminari Isida (ICRA, 1989)

Apparent structural stiffness of closed mechanisms under the effect of internal forces during dynamic motion. - Mehmet Arif Adli; Kiyoshi Nagai; Keiichiro Miyata; Hideo Hanafusa (IROS, 1991)