Energy-Efficient Trajectory Planning using Inequality State Constraint for Biped Walking Robot with Upper Body Mass. - Takamasa Hase; Qingjiu Huang (IROS, 2006)

Energy-Efficient Trajectory Planning for Biped Walking Robot. - Qingjiu Huang; Takamasa Hase (ROBIO, 2006)

Passive/active unified dynamic walking for biped locomotion. - Qingjiu Huang; Takamasa Hase; Kyosuke Ono (ROBIO, 2007)

Performance analysis of biped walking robot with circular feet using optimal trajectory planning method. - Takamasa Hase; Qingjiu Huang; Xuedong Chen (ROBIO, 2008)