Adaptive locomotion control of a legged robot with pneumatic actuators. - Katsuyoshi Tsujita; Takashi Inoura; Toshiya Kobayashi; Tatsuya Masuda (ROBIO, 2007)

Gait transition by tuning muscle tones using pneumatic actuators in quadruped locomotion. - Katsuyoshi Tsujita; Toshiya Kobayashi; Takashi Inoura; Tatsuya Masuda (IROS, 2008)