Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs. - Shogo Miyata; Sho Miyahara; Dragomir N. Nenchev (Adv. Robotics, 2017)

The VRP Generalized Inverse and Its Application in DCM/VRP-Based Walking Control. - Dragomir N. Nenchev; Akinori Miyata; Sho Miyahara; Takehide Hamano (IEEE Robotics Autom. Lett., 2019)

Walking With Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation. - Ryo Iizuka; Sho Miyahara; Dragomir N. Nenchev (IEEE Robotics Autom. Lett., 2020)

Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration. - Akinori Miyata; Sho Miyahara; Dragomir N. Nenchev (IEEE Robotics Autom. Lett., 2020)