Emergence of measurable period of double-limb support in limit cycle walking with knees. - Fumihiko Asano; Masataka Ohshima (CCA, 2012)

Underactuated bipedal walking with knees that generates measurable period of double-limb support. - Masataka Ohshima; Fumihiko Asano (ICRA, 2013)

Stability and efficiency of underactuated bipedal walker that generates non-instantaneous double-limb support motion. - Masataka Ohshima; Fumihiko Asano (IROS, 2013)