1. Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie, Planning walking patterns for a biped robot, in Proceedings of IEEE International Conference on Robotics and Automation, 2001, pp. 280–289
2. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa, A realtime pattern generator for biped walking, in Proceedings of IEEE International Conference on Robotics and Automation, 2002, pp. 31–37
3. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in Proceedings of IEEE International Conference on Robotics and Automation, 2003, pp. 1620–1626
4. Y. Choi, D. Kim, B.J. You, On the walking control for humanoid robot based on the kinematic resolution of com jacobian with embedded motion, in Proceedings of IEEE International Conference on Robotics and Automation, 2006, pp. 2655–2660
5. J.W. Grizzle, E.R. Westervelt, C. Canudas-de Wit, Event-based PI control of an underactuated biped walker, in Proceedings of 42nd IEEE Conference on Decision and Control, 2003, pp. 3091–3096