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

3-DOF passive dynamic walking of compass-like biped robot with semicircular feet generated on slippery downhill. - Fumihiko Asano; Toshiaki Saka; Yuji Harata (ICRA, 2016)