Pitching Motion in a Humanoid Robot Using Human-Inspired Shoulder Elastic Energy and Motor Torque Optimization. - Yuri Nakazawa; Masaki Iwamoto; Ryuhya Watanabe; Riku Aoki; Hiroki Mineshita; Takuya Otani; Yasuo Kawakami; Hun-Ok Lim; Atsuo Takanishi (ICRA, 2025)