Thinning and smoothing of randomly-sampled support transitions toward practical motion planning for humanoid robots. - Toshiya Nishi; Tomomichi Sugihara (IROS, 2010)

Motion Planning of a Humanoid Robot in a Complex Environment Using RRT and Spatiotemporal Post-Processing Techniques. - Toshiya Nishi; Tomomichi Sugihara (Int. J. Humanoid Robotics, 2014)