Real time motion generation and control for biped robot -4th report: Integrated balance control-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike; Tadaaki Hasegawa; Shinya Shirokura; Hiroyuki Kaneko; Atsuo Orita (IROS, 2009)

Real time motion generation and control for biped robot -2nd report: Running gait pattern generation-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike; Shinya Shirokura (IROS, 2009)

Dynamic gait transition between walking, running and hopping for push recovery. - Takumi Kamioka; Hiroyuki Kaneko; Mitsuhide Kuroda; Chiaki Tanaka; Shinya Shirokura; Masanori Takeda; Takahide Yoshiike (Humanoids, 2017)

Push Recovery Strategy of Dynamic Gait Transition between Walking, Running and Hopping. - Takumi Kamioka; Hiroyuki Kaneko; Mitsuhide Kuroda; Chiaki Tanaka; Shinya Shirokura; Masanori Takeda; Takahide Yoshiike (Int. J. Humanoid Robotics, 2019)