Design and construction of a series of compact humanoid robots and development of biped walk control strategies. - Takayuki Furuta; Tetsuo Tawara; Yu Okumura; Masaharu Shimizu; Ken Tomiyama (Robotics Auton. Syst., 2001)

Realtime ZMP compensation for biped walking robot using adaptive inertia force control. - Yu Okumura; Tetsuo Tawara; Ken Endo; Takayuki Furuta; Masaharu Shimizu (IROS, 2003)

morph3: a compact-size humanoid robot system capable of acrobatic behavior. - Yu Okumura; Tetsuo Tawara; Takayuki Furuta; Ken Endo; Masaharu Shimizu; Masaki Shimomura; Hiroaki Kitano (Adv. Robotics, 2004)

Morph: A Desktop-Class Humanoid Capable of Acrobatic Behavior. - Tetsuo Tawara; Yu Okumura; Takayuki Furuta; Masaharu Shimizu; Masaki Shimomura; Ken Endo; Hiroaki Kitano (Int. J. Robotics Res., 2004)

Development of Powered Knee Prosthesis with Small-Scale, Light-Weight, and Affordable Series-Elastic Actuator, and its Preliminary Walking Test. - Ken Endo; Hirozumi Takeshima; Tetsuo Tawara (CIS/RAM, 2019)

Preliminary Investigation of Powered Knee Prosthesis with Small-Scale, Light-Weight, and Affordable Series-Elastic Actuator for Walking Rehabilitation of a Patient with Four-limb Deficiency. - Ken Endo; Naoki Uchida; Ryusuke Morita; Tetsuo Tawara (ICRA, 2022)

Experimental Evaluation of Simple Prosthetic Arm Usage for a Patient with Four-limb Deficiency Walking on Powered Knee Prostheses. - Ken Endo; Ryusuke Morita; Naoki Uchida; Tetsuo Tawara (CBS, 2024)