Foot-guided agile control of a biped robot through ZMP manipulation. - Tomomichi Sugihara; Takanobu Yamamoto (IROS, 2017)

Foot-guided control of a biped robot through ZMP manipulation. - Takanobu Yamamoto; Tomomichi Sugihara (Adv. Robotics, 2020)

Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot. - Tomomichi Sugihara; Takanobu Yamamoto (CLAWAR, 2021)

3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation. - Tomomichi Sugihara; Kenta Imanishi; Takanobu Yamamoto; Stéphane Caron (ICRA, 2021)

Responsive navigation of a biped robot that takes into account terrain, foot-reachability and capturability. - Takanobu Yamamoto; Tomomichi Sugihara (Adv. Robotics, 2021)