Running Trajectory Generation Including Gait Transition between Walking Based on the Time-Varying Linear Inverted Pendulum Mode. - Satomi Hanasaki; Yuichi Tazaki; Hikaru Nagano; Yasuyoshi Yokokohji (Humanoids, 2022)

A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking. - Yuichi Tazaki; Satomi Hanasaki; Soh Yukizaki; Yugo Mitazono; Hikaru Nagano; Yasuyoshi Yokokohji (Adv. Robotics, 2023)