Limit cycle walking of underactuated bipedal humanoid on slippery road surface. - Xuan Xiao 001; Yasunori Kikuchi; Fumihiko Asano; Tetsuro Fujimoto (Humanoids, 2014)

Passive dynamic walking of compass-like biped robot on slippery downhill. - Fumihiko Asano; Toshiaki Saka; Tetsuro Fujimoto (IROS, 2015)