"Shigeo Hirose,Yasushi Fukuda,Kan Yoneda,Akihiko Nagakubo,Hideyuki Tsukagoshi,Keisuke Arikawa,Gen Endo,Takahiro Doi,Ryuichi Hodoshima","Quadruped Walking Robots at Tokyo Institute of Technology: Design, Analysis, and Gait Control Methods",,"IEEE Robotics and Automation Magazine",,"Vol. 16","No. 2","pp. 104-114",2009,June