Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait. - Osamu Matsumoto; Shuuji Kajita; Muneharu Saigo; Kazuo Tani (IROS, 1998)

Biped-type leg-wheeled robot. - Osamu Matsumoto; Shuuji Kajita; Muneharu Saigo; Kazuo Tanie (Adv. Robotics, 1998)

Real-time 3D Walking Pattern Generation for a Biped Robot with Telescopic Legs. - Shuuji Kajita; Osamu Matsumoto; Muneharu Saigo (ICRA, 2001)

Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback. - Shuuji Kajita; Kazuhito Yokoi; Muneharu Saigo; Kazuo Tanie (ICRA, 2001)

Adaptive backstepping control design for a flywheel zero-bias AMB system. - Selim Sivrioglu; Muneharu Saigo; Kenzo Nonami (CCA, 2003)

Adaptive backstepping for nonlinear switching control AMB system with base excitation. - Selim Sivrioglu; Muneharu Saigo (CCA, 2005)