Mechanism and characteristics of direct drive motors. - Takanobu Iwakane; Junji Hirai; Yasuhiro Miyamoto (Adv. Robotics, 1987)

Postural Balance Strategies in Response to Disturbances in the Frontal Plane and Their Implementation With a Humanoid Robot. - Yuki Yoshida; Kohei Takeuchi; Yasuhiro Miyamoto; Daisuke Sato 002; Dragomir N. Nenchev (IEEE Trans. Syst. Man Cybern. Syst., 2014)