Passive trunk mechanism for controlling walking behavior of semi-passive walker. - Hiroki Oku; Norimasa Asagi; Takashi Takuma; Tatsuya Masuda (IROS, 2015)

Design of vertebrae-inspired trunk mechanism for controlling walking behavior of semi-passive walker. - Takashi Takuma; Hiroki Oku; Norimasa Asagi; Wataru Kase (Auton. Robots, 2018)