Development of TITAN XI: a quadruped walking robot to work on slopes. - Ryuichi Hodoshima; Takahiro Doi; Yasushi Fukuda; Shigeo Hirose; Toshihito Okamoto; Junichi Mori (IROS, 2004)

Development of a quadruped walking robot to work on steep slopes, TITAN XI (walking motion with compensation for compliance). - Takahiro Doi; Ryuichi Hodoshima; Shigeo Hirose; Yasushi Fukuda; Toshihito Okamoto; Junichi Mori (IROS, 2005)

Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -. - Takahiro Doi; Ryuichi Hodoshima; Yasushi Fukuda; Shigeo Hirose; Toshihito Okamoto; Junichi Mori (J. Robotics Mechatronics, 2006)

Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -. - Ryuichi Hodoshima; Takahiro Doi; Yasushi Fukuda; Shigeo Hirose; Toshihito Okamoto; Junichi Mori (J. Robotics Mechatronics, 2007)