High-speed limit cycle walking for biped robots using active up-and-down motion control of wobbling mass. - Yuta Hanazawa; Terumitsu Hayashi; Masaki Yamakita; Fumihiko Asano (IROS, 2013)

Robust walking of biped robot on uneven terrain using effect of wobbling mass. - Terumitsu Hayashi; Masaki Yamakita; Yuta Hanazawa; Fumihiko Asano (ROBIO, 2014)

High speed running of flat foot biped robot with inerter using SLIP model. - Nhat Thanh Doan; Terumitsu Hayashi; Masaki Yamakita (AIM, 2015)

Robust analysis of biped walking on uneven terrain using output zeroing controls. - Terumitsu Hayashi; Masaki Yamakita (ROBIO, 2015)

Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass. - Yuta Hanazawa; Terumitsu Hayashi; Masaki Yamakita; Fumihiko Asano (J. Robotics Mechatronics, 2019)