Design and development of a light-weight biped humanoid robot Saika-4. - Satoru Shirata; Atsushi Konno; Masaru Uchiyama (IROS, 2004)

Design and evaluation of a gravity compensation mechanism for a humanoid robot. - Satoru Shirata; Atsushi Konno; Masaru Uchiyama (IROS, 2007)