The Development of Honda Humanoid Robot. - Kazuo Hirai; Masato Hirose; Yuji Haikawa; Toru Takenaka (ICRA, 1998)

Real time motion generation and control for biped robot -1st report: Walking gait pattern generation-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike (IROS, 2009)

Real time motion generation and control for biped robot -3rd report: Dynamics error compensation-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike (IROS, 2009)

Real time motion generation and control for biped robot -4th report: Integrated balance control-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike; Tadaaki Hasegawa; Shinya Shirokura; Hiroyuki Kaneko; Atsuo Orita (IROS, 2009)

Real time motion generation and control for biped robot -2nd report: Running gait pattern generation-. - Toru Takenaka; Takashi Matsumoto; Takahide Yoshiike; Shinya Shirokura (IROS, 2009)

Simultaneous Optimization of ZMP and Footsteps Based on the Analytical Solution of Divergent Component of Motion. - Takumi Kamioka; Hiroyuki Kaneko; Toru Takenaka; Takahide Yoshiike (ICRA, 2018)