Trajectory Generation of a Biped Locomotive Robot. - Yasuo Kurematsu; Shinzo Kitamura (J. Robotics Mechatronics, 1990)

Autonomous trajectory generation of a biped locomotive robot using neuro oscillator. - Yasuo Kurematsu; Takuji Maeda; Shinzo Kitamura (ICNN, 1993)

Learning Control System of Biped Locomotive Robot Using Neural Networks. - Yasuo Kurematsu; Takashi Murai; Takuji Maeda; Shinzo Kitamura (J. Robotics Mechatronics, 1993)

Theoretical Studies on Neuro Oscilator for Application of Biped Locomotion. - Osamu Kiatayama; Yasuo Kurematsu; Shinzo Kitamura (ICRA, 1995)