Intelligent control using destabilized and stabilized controllers for a swung up and inverted double pendulum. - Masaki Takahashi; Terumasa Narukawa; Kazuo Yoshida (ISIC, 2003)

Intelligent stabilization control to an arbitrary equilibrium point of double pendulum. - Masaki Takahashi; Terumasa Narukawa; Kazuo Yoshida (ACC, 2004)

Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. - Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida (IROS, 2005)

Combined control of CPG and torso attitude control for biped locomotion. - Masaki Takahashi; Terumasa Narukawa; Ken Miyakawa; Kazuo Yoshida (IROS, 2005)

Level-Ground Walk Based on Passive Dynamic Walking for a Biped Robot with Torso. - Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida (ICRA, 2007)

A simple 3D straight-legged passive walker with flat feet and ankle springs. - Terumasa Narukawa; Kazuto Yokoyama; Masaki Takahashi; Kazuo Yoshida (IROS, 2008)

Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs. - Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida (Robotica, 2011)

Torso and swing-leg control for a planar biped walker with hip series elastic actuators. - Naoto Maezawa; Terumasa Narukawa; Hiroshi Yamamoto (ASCC, 2019)