Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. - Takuya Otani; T. George; Kazuhito Uryu; Masaaki Yahara; A. Iizuka; Shinya Hamamoto; Shunsuke Miyamae; Kenji Hashimoto; Matthieu Destephe; Masanori Sakaguchi; Yasuo Kawakami; Hun-ok Lim; et al. (Humanoids, 2014)

Knee joint mechanism that mimics elastic characteristics and bending in human running. - Takuya Otani; Kenji Hashimoto; Shinya Hamamoto; Shunsuke Miyamae; Masanori Sakaguchi; Yasuo Kawakami; Hun-ok Lim; Atsuo Takanishi (IROS, 2015)

Running with lower-body robot that mimics joint stiffness of humans. - Takuya Otani; Kenji Hashimoto; Masaaki Yahara; Shunsuke Miyamae; Takaya Isomichi; Masanori Sakaguchi; Yasuo Kawakami; Hun-ok Lim; Atsuo Takanishi (IROS, 2015)

Utilization of Human-Like Pelvic Rotation for Running Robot. - Takuya Otani; Kenji Hashimoto; Masaaki Yahara; Shunsuke Miyamae; Takaya Isomichi; Shintaro Hanawa; Masanori Sakaguchi; Yasuo Kawakami; Hun-ok Lim; Atsuo Takanishi (Frontiers Robotics AI, 2015)

Angular momentum compensation in yaw direction using upper body based on human running. - Takuya Otani; Kenji Hashimoto; Shunsuke Miyamae; Hiroki Ueta; Masanori Sakaguchi; Yasuo Kawakami; Hun-ok Lim; Atsuo Takanishi (ICRA, 2017)