The trials of hula hooping by a musculo-skeletal humanoid KOJIRO nearing dancing motions using the soft spine. - Yuriko Kekehashi; Tamon Izawa; Takuma Shirai; Yuto Nakanishi; Kei Okada; Masayuki Inaba (Humanoids, 2011)

Achievement of Hula Hooping by Robots Through Deriving Principle Structure Towards Flexible Spinal Motion. - Yuriko Kakehashi; Tamon Izawa; Takuma Shirai; Yuto Nakanishi; Kei Okada; Masayuki Inaba (J. Robotics Mechatronics, 2012)

Walking together hand in hand: Design and evaluation of autonomous robot system that a robot recognizes moving direction with a child's assistance of pulling its hand. - Kanae Kochigami; Jun Jiang; Yuriko Kakehashi; Chiwun Au; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (SII, 2015)

Development of Continuum Spine Mechanism for Humanoid Robot: Biomimetic Supple and Curvilinear Spine Driven by Tendon. - Yuriko Kakehashi; Kei Okada; Masayuki Inaba (RoboSoft, 2020)