Walking control using the SC approach for humanoid robot. - Koki Kameta; Akinori Sekiguchi; Yuichi Tsumaki; Dragomir N. Nenchev (Humanoids, 2005)

A Walking Pattern Generator around Singularity. - Akinori Sekiguchi; Yuki Atobe; Koki Kameta; Yuichi Tsumaki; Dragomir N. Nenchev (Humanoids, 2006)

Walking control around singularity using a Spherical Inverted Pendulum with an Underfloor Pivot. - Koki Kameta; Akinori Sekiguchi; Yuichi Tsumaki; Yoshikazu Kanamiya (Humanoids, 2007)