Throwing motion control based on output zeroing utilizing 2-link underactuated arm. - Shunsuke Katsumata; Shigenori Ichinose; Takuya Shoji; Shigeki Nakaura; Mitsuji Sampei (ACC, 2009)

Throwing Motion Control of the Springed Pendubot. - Takuya Shoji; Shunsuke Katsumata; Shigeki Nakaura; Mitsuji Sampei (IEEE Trans. Control. Syst. Technol., 2013)