Analysis of the gait generation principle by a simulated quadruped model with a CPG incorporating vestibular modulation. - Yasuhiro Fukuoka; Yasushi Habu; Takahiro Fukui (Biol. Cybern., 2013)

A Simple Rule for Quadrupedal Gait Transition Proposed by a Simulated Muscle-driven Quadruped Model with Two-level CPGs. - Yasushi Habu; Yuuta Yamada; Satoshi Fukui; Yasuhiro Fukuoka (ROBIO, 2018)

Gait Transition from Pacing by a Quadrupedal Simulated Model and Robot with Phase Modulation by Vestibular Feedback. - Takahiro Fukui; Souichiro Matsukawa; Yasushi Habu; Yasuhiro Fukuoka (Robotics, 2022)