A study on optimal formulation for multi-legged gait robot with redundant joint. - Nobuto Hirakoso; Jun'ya Terayama; Naoya Yoshinaga; Ryoichiro Tamura; Tatsuya Hatori; Yusuke Hirama; Woong Choi; Yoichi Shigematsu; Hironoshin Kawabata; Tadao Arai (MHS, 2017)

A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory. - Yoichi Shigematsu; Naoya Yoshinaga; Hitoshi Inabe; Ryoichiro Tamura; Tomoya Fujii; Souta Okada; Nobuto Hirakoso (MHS, 2018)