A gait generation method for the compass-type biped robot on slopes via discrete mechanics. - Tatsuya Kai; Takeshi Shintani (CDC/ECC, 2011)

Gait generation on periodically unlevel grounds for the compass-type biped robot via discrete mechanics. - Tatsuya Kai; Takeshi Shintani (CCA, 2012)

Control of the Cart-Pendulum System Based on Discrete Mechanics - Part II: Transformation to Continuous-Time Inputs and Experimental Verification -. - Tatsuya Kai; Kensuke Bito; Takeshi Shintani (IEICE Trans. Fundam. Electron. Commun. Comput. Sci., 2012)