Antagonistic Control of Multi-DOF Joint by using the Actuator with Non-linear Elasticity. - Koichi Koganezawa; Toshiki Nakazawa; Tomoya Inaba (ICRA, 2006)

Posture control of redundant manipulators on the norm of task space stiffness optimization. - Koichi Koganezawa; Tomoya Inaba (ICRA, 2009)