Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot，Takeshi Kikkawa, Osamu Matsumoto, Kazuo Tani，Journal of Robotics and Mechatronics，11-5, pp.380-386，1999/12
Biped-type leg-wheeled robot，Osamu Matsumoto，Shuuji Kajita，Muneharu Saigo, Kazuo Tani，Advanced Robotics，13(3), pp.235-236, 1999/10
Estimation and Control of the Attitude of a Dynamic Mobile Robot Using Internal Sensors，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Advanced Robotics，7(2), pp.159-178，1993/07
Cooperative Behavior of a Mechanically Unstable Mobile Robot for Object Transportation，Naoji Shiroma, Osamu Matsumoto, Kazuo Tani，JSME International Journal Series C，42(4), pp.965〜973, 1999/12
Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System，Osamu Matsumoto，Shuuji Kajita，Kiyoshi Komoriya，Proceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'02)，pp.2599-2604，2002/10
Structure and locomotive modes of a self-contained biped leg-wheeled system，Osamu Matsumoto，Shuuji Kajita，Kiyoshi Komoriya，S-J Kim，Proceedings of the Fifth International Conference on Climbing and Walking Robots，pp.299-306，2002/09
Dynamic control of a biped leg-wheeled robot moving over stairs by considering the continuity of dynamic trajectories，Osamu Matsumoto，Shuuji Kajita，Muneharu Saigo，Kazuo Tani，Proceedings of the Fourth International Conference on Climbing and Walking Robots，pp.843-850，2001/09
Fast Passing over Steps with Unknown Height Using a Laser Range Sensor by a ' Variable Structure Type Four-Wheeled Robot'，Takeshi Kikkawa，Osamu Matsumoto，Kazuo Tani，Proc. of The 3rd International Conference on Advanced Mechatronics，pp.620-625，1998/08
Dynamic Trajectory Control of Passing Over Stairs by a Biped Type Leg-wheeled Robot with Nominal Reference of Static Gait，Osamu Matsumoto，Shuuji Kajita，Muneharu Saigo, Kazuo Tani，Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'98)，pp.406〜412，1998/10
Fast Passing over Steps with Unknown Height by a 'Variable Structure Type Four-Wheeled Robot'，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Proc. 10th IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS'97)，pp.1131-1137，1997/09
Cooperative Behavior of a Wheeled Inverted Pendulum for Object Transportation，Naoji Shiroma, Osamu Matsumoto，Shuuji Kajita, Kazuo Tani，Proc. IEEE/RSJ Int. Conf. on Intelligent Robot & Systems (IROS'96)，pp.396-401，1996/11
Fast Passing Over Steps by a Variable Structure Type Four-wheeled Robot Considering the Collision in Landing，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Keiichi Igura，Proc.2nd ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems，pp.356-361，1996/09
Dynamic Trajectory Control of a Variable Structure Type Four-wheeled Robot to Pass over Steps，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Proc. of 4th Int. Workshop on Advanced Motion Control，pp.253-258，1996/03
A Four-wheeled Robot to Pass over Steps by Changing Running Control Modes，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Mitsuhiro Ohto，Proc.1995 IEEE lnt. Conf. on Robotics and Automation (ICRA'95)，pp.1700-1706，1995/05
The Concept of Model Free Robotics for Robots to Act in Uncertain Environments，Kazuo Tani，Kiichi Ikeda, Tomoaki Yano, Shuuji Kajita, Osamu Matsumoto，Proceedings of the 1993 IEEE/Tsukuba International Workshop on Advanced Robotics，pp.85-90，1993/11
Attitude Estimation of Mobile Robots with Known and Unknown Dynamicss，Osamu Matsumoto，Shuuji Kajita，Kazuo Tani，Proceedings of the 2nd IEEE International Workshop on Advanced Motion Control,pp.79-86，1992/03
Controller design of a two-wheeled inverted pendulum mobile robot，Jingtao Li, Xueshan Gao, Qiang Huang, Osamu Matsumoto, Proc. of IEEE International Conference on Mechatronics and Automation, 2008/8
Structure and locomotive modes of a self-contained biped leg-wheeled system，2002/09，Fifth International Conference on Climbing and Walking Robots
Dynamic control of a biped leg-wheeled robot moving over stairs by considering the continuity of dynamic trajectories，2001/09，4th International Conference on Climbing and Walking Robots
Dynamically Stable Control of the Four-legged Walking Machine BISAM in Trot Motion Using Foot Force Sensors，2000/07, Intelligent Autonomous Systems 6(IAS-6)
Dynamic Control for Stabilization of the Four-legged Walking Machine BISAM in Trot Motion，1999/11，Autonome Mobile Systeme 1999
Dynamic Trajectory Control of Passing over Stairs by a Biped Type Leg- wheeled Robot with Nominal Reference of Static Gait，1998/10，IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 98)
Fast Passing over Steps with Unknown Height by a 'Variable Structure Type Four-wheeled Robot'，1997/09，1997 IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS'97)
Fast Passing over Steps by a Variable Structure Type Four-wheeled Robot Considering the Collision in Landing，1996/09，2nd ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems
Dynamic Trajectory Control of a Variable Structure Type Four-wheeled Robot to Pass over Steps，1996/03，4th Int. Workshop on Advanced Motion Control
A Four-wheeled Robot to Pass over Steps by Changing Running Control Modes，1995/05，1995 IEEE Int. Conf. On Robotics and Automation(ICRA 95)
Attitude Estimation of Mobile Robots with Known and Unknown Dynamics，1992/03，2nd IEEE International Workshop on Advanced Motion Controls
Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System，2002/10，2002 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 02)