Dynamic analysis and control of biped locomotion in the double supporting phase. - Eturoo Igarashi; Tooru Nogai (Adv. Robotics, 1991)

Study of lower level adaptive walking in the sagittal plane by a biped locomotion robot. - Eturoo Igarashi; Tooru Nogai (Adv. Robotics, 1991)

Effect of the Motion in Horizontal Plane on the Stability of Biped Walking. - Ryoji Kodama; Tooru Nogai; Katsumi Suzuki (J. Robotics Mechatronics, 1993)

Movement support system for electric wheelchair. - Eiji Takahashi; Tooru Nogai (IROS, 1998)

Gait Generation for a Walking Robot with Passive Joints. - Kazunori Kaede; Tooru Nogai (J. Robotics Mechatronics, 2008)