Omni-directional Gait of Multi-legged Rescue Robot. - Kenji Kamikawa; Tatsuo Arai; Kenji Inoue; Yasushi Mae (ICRA, 2004)

Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane. - Kenji Kamikawa; Tomohito Takubo; Yasushi Mae; Kenji Inoue; Tatsuo Arai (J. Robotics Mechatronics, 2012)