Landing trajectory generation for bipedal jumping motion. - Yukihisa Takaoka; Kirill Van Heerden; Atsuo Kawamura (AMC, 2010)

Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation. - Kirill Van Heerden; Atsuo Kawamura (AMC, 2012)

Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method. - Fariz Ali; Naoki Motoi; Kirill Van Heerden; Atsuo Kawamura (J. Robotics Mechatronics, 2013)

A combination of particle swarm optimization and model predictive control on graphics hardware for real-time trajectory planning of the under-actuated nonlinear Acrobot. - Kirill Van Heerden; Yatsutaka Fujimoto; Atsuo Kawamura (AMC, 2014)

Planning COM trajectory with variable height and foot position with reactive stepping for humanoid robots. - Kirill Van Heerden (ICRA, 2015)

Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping. - Kirill Van Heerden; Atsuo Kawamura (Adv. Robotics, 2015)

Real-Time Variable Center of Mass Height Trajectory Planning for Humanoids Robots. - Kirill Van Heerden (IEEE Robotics Autom. Lett., 2017)

Force-Sensorless Fault Tolerant Detection and Switching Control of Tendon-Driven Mechanisms With Redundant Tendons. - Kiichi Suehiro; Ryuta Ozawa; Kirill Van Heerden (IEEE Robotics Autom. Lett., 2017)