Analysis of the gait generation principle by a simulated quadruped model with a CPG incorporating vestibular modulation. - Yasuhiro Fukuoka; Yasushi Habu; Takahiro Fukui (Biol. Cybern., 2013)

Autonomous gait transition and galloping over unperceived obstacles of a quadruped robot with CPG modulated by vestibular feedback. - Takahiro Fukui; Hisamu Fujisawa; Kotaro Otaka; Yasuhiro Fukuoka (Robotics Auton. Syst., 2019)

Gait Transition from Pacing by a Quadrupedal Simulated Model and Robot with Phase Modulation by Vestibular Feedback. - Takahiro Fukui; Souichiro Matsukawa; Yasushi Habu; Yasuhiro Fukuoka (Robotics, 2022)