1. Kajita S., Kanehiro F., Kaneko K., Yokoi K. and Hirukawa H.,2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001. Proceedings,1, 239-246 (2001)
2. Kajita S., Kanehiro F., Kaneko K., Fujiwara K., Harada K., Yokoi K. and Hirukawa H.,IEEE International Conference on Robotics and Automation, 2003. ICRA’03,2, pp. 1620-1626 (2003).
3. Real-Time Planning of Humanoid Robot's Gait for Force-Controlled Manipulation
4. Kajita S., Morisawa M., Miura K., Nakaoka S., Harada K., Kaneko K. and Yokoi K.,2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4489-4496 (2010)
5. Planning walking patterns for a biped robot