Inaccuracy of internal models in force fields and complementary use of impedance control. - Naoki Tomi; Manabu Gouko; Koji Ito (IROS, 2008)

Combined Mechanisms of Internal Model Control and Impedance Control under Force Fields. - Naoki Tomi; Manabu Gouko; Koji Ito (ICANN (1), 2009)

Behaviour Emergence Model Based on Changes in Sensory Information and its Application to Multiple Tasks. - Manabu Gouko; Naoki Tomi; T. Nagano; Koji Ito (Int. J. Robotics Autom., 2010)