Generation of Large Gymnastic Motions for a Family of Under-Actuated Robots by Zero-Moment-Manifold Control. - Hiroe Hashiguchi; Hiroe Arimoto; Toyohide Sakamoto; Shoji Namikawa (IROS, 2006)

Generation of 3-D motion of under-actuated gymnastics robots having two free joints. - Hiroe Hashiguchi; Suguru Arimoto; Toyohide Sakamoto (IROS, 2007)