Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model. - Chi Zhu 001; Yoshihito Tomizawa; Xiang Luo 001; Atsuo Kawamura (ROBIO, 2004)

Bipedal walking pattern design based on synchronization of the motions in sagittal and lateral planes. - Chi Zhu 001; Yoshihito Tomizawa; Atsuo Kawamura (IROS, 2005)