Optimal trajectory design for parametric excitation walking. - Yoshihisa Banno; Yuji Harata; Kouichi Taji; Yoji Uno (IROS, 2009)

Development and experiment of a kneed biped walking robot based on parametric excitation principle. - Yoshihisa Banno; Yuji Harata; Kouichi Taji; Yoji Uno (IROS, 2011)

An optimization method for the reference trajectory of parametric excitation walking. - Kouichi Taji; Yoshihisa Banno; Yuji Harata (Robotica, 2011)