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Cooperative Behavior of a Mechanically Unstable Mobile Robot for Object Transportation�CNaoji Shiroma, Osamu Matsumoto, Kazuo Tani�CJSME International Journal Series C�C42(4), pp.965�`973, 1999/12

Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot�CTakeshi Kikkawa, Osamu Matsumoto, Kazuo Tani�CJournal of Robotics and Mechatronics�C11-5, pp.380-386�C1999/12

Biped-type leg-wheeled robot�COsamu Matsumoto�CShuuji Kajita�CMuneharu Saigo, Kazuo Tani�CAdvanced Robotics�C13(3), pp.235-236, 1999/10

�\���I�ɕs����Ȉړ����{�b�g�̋����s���ɂ�镨�̂̉^���C��Ԓ��i�C���{���C�J�a�j�C���{�@�B�w��_���W C�ҁC64(628), pp.4694-4701�C1998/12

�ÓI���e���K�͂Ƃ���2�����s�^�r�ԗփ��{�b�g�̊K�i���~����C���{���C���c�G�i�C�����@���C�J�a�j�C���{���{�b�g�w��C16(6)�Cpp.868-875�C1998/08

�\���•ό^4�փ��{�b�g�ɂ�鍂�������m�̒i���̍������~����C���{���C�J�a�j�C���{�@�B�w��_���W(C��)�C63(616)�Cpp.4299-4306�C1997/12

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���s���[�h���I�݂ɐ؂芷���Ēi�����~����4�փ��{�b�g�C���{���C���c�G�i�C�J�a�j�C�剹�����C���{���{�b�g�w��C13 (6), pp.822-829�C1995/09

���s���[�h���I�݂ɐ؂�ς��Ēi�����~����4�փ��{�b�g�C���{���C���c�G�i�C�J�a�j�C�剹�����C���{�@�B�w��C98 (916)�Cpp.44�A1995/03

Estimation and Control of the Attitude of a Dynamic Mobile Robot Using Internal Sensors�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CAdvanced Robotics�C7(2), pp.159-178�C1993/07

�ړ����{�b�g�̓��E�Z���T�݂̂ɂ��p�����o�Ƃ��̐���C���{���C���c�G�i�C�J�a�j�C���{���{�b�g�w��C8(5), pp.541-550�C1990/10




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Controller design of a two-wheeled inverted pendulum mobile robot�CJingtao Li, Xueshan Gao, Qiang Huang, Osamu Matsumoto, Proc. of IEEE International Conference on Mechatronics and Automation, 2008/8

Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System�COsamu Matsumoto�CShuuji Kajita�CKiyoshi Komoriya�CProceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'02)�Cpp.2599-2604�C2002/10

Structure and locomotive modes of a self-contained biped leg-wheeled system�COsamu Matsumoto�CShuuji Kajita�CKiyoshi Komoriya�CS-J Kim�CProceedings of the Fifth International Conference on Climbing and Walking Robots�Cpp.299-306�C2002/09

Dynamic control of a biped leg-wheeled robot moving over stairs by considering the continuity of dynamic trajectories�COsamu Matsumoto�CShuuji Kajita�CMuneharu Saigo�CKazuo Tani�CProceedings of the Fourth International Conference on Climbing and Walking Robots�Cpp.843-850�C2001/09

Fast Passing over Steps with Unknown Height Using a Laser Range Sensor by a ' Variable Structure Type Four-Wheeled Robot'�CTakeshi Kikkawa�COsamu Matsumoto�CKazuo Tani�CProc. of The 3rd International Conference on Advanced Mechatronics�Cpp.620-625�C1998/08

Dynamic Trajectory Control of Passing Over Stairs by a Biped Type Leg-wheeled Robot with Nominal Reference of Static Gait�COsamu Matsumoto�CShuuji Kajita�CMuneharu Saigo, Kazuo Tani�CProc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'98)�Cpp.406�`412�C1998/10

Fast Passing over Steps with Unknown Height by a 'Variable Structure Type Four-Wheeled Robot'�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CProc. 10th IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS'97)�Cpp.1131-1137�C1997/09

Cooperative Behavior of a Wheeled Inverted Pendulum for Object Transportation�CNaoji Shiroma, Osamu Matsumoto�CShuuji Kajita, Kazuo Tani�CProc. IEEE/RSJ Int. Conf. on Intelligent Robot & Systems (IROS'96)�Cpp.396-401�C1996/11

Fast Passing Over Steps by a Variable Structure Type Four-wheeled Robot Considering the Collision in Landing�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CKeiichi Igura�CProc.2nd ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems�Cpp.356-361�C1996/09

Dynamic Trajectory Control of a Variable Structure Type Four-wheeled Robot to Pass over Steps�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CProc. of 4th Int. Workshop on Advanced Motion Control�Cpp.253-258�C1996/03

A Four-wheeled Robot to Pass over Steps by Changing Running Control Modes�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CMitsuhiro Ohto�CProc.1995 IEEE lnt. Conf. on Robotics and Automation (ICRA'95)�Cpp.1700-1706�C1995/05

The Concept of Model Free Robotics for Robots to Act in Uncertain Environments�CKazuo Tani�CKiichi Ikeda, Tomoaki Yano, Shuuji Kajita, Osamu Matsumoto�CProceedings of the 1993 IEEE/Tsukuba International Workshop on Advanced Robotics�Cpp.85-90�C1993/11

Attitude Estimation of Mobile Robots with Known and Unknown Dynamicss�COsamu Matsumoto�CShuuji Kajita�CKazuo Tani�CProceedings of the 2nd IEEE International Workshop on Advanced Motion Control,pp.79-86�C1992/03




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�����^�r�ԗւQ���V�X�e���̊J��(��Q��)-�K�i���~�菇�Ǝԗ֎����グ��b����-�C2003/09�C��Q�P����{���{�b�g�w��w�p�u����

Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System�C2002/10�C2002 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 02)

Structure and locomotive modes of a self-contained biped leg-wheeled system�C2002/09�CFifth 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�C2001/09�C4th International Conference on Climbing and Walking Robots

�����^�r�ԗւQ���V�X�e���̊J��(��P��)-�@�\�ƈړ��`��-�C2001/09�C���{���{�b�g�w��w�p�u����

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Dynamically Stable Control of the Four-legged Walking Machine BISAM in Trot Motion Using Foot Force Sensors�C2000/07, Intelligent Autonomous Systems 6(IAS-6)

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Dynamic Control for Stabilization of the Four-legged Walking Machine BISAM in Trot Motion�C1999/11�CAutonome Mobile Systeme 1999

�r�ԗ֌^���{�b�g�̓��I�i���E�K�i���~�C1998/11�C��569��}�g�����t�H�[���� Dynamic Trajectory Control of Passing over Stairs by a Biped Type Leg- wheeled Robot with Nominal Reference of Static Gait�C1998/10�CIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 98)

�����s�^�r�ԗփ��{�b�g�̌����i��3��j-�O�������E����@�̌���-�C1998/09�C��16����{���{�b�g�w��w�p�u����

�����s�^�r�ԗփ��{�b�g�̌����i��2��j-�Õ��s�O����p�������s�y�ъK�i���~����-�C1998/06�C���{�@�B�w��{�e�B�N�X�E���J�g���j�N�X�u����'98

Fast Passing over Steps with Unknown Height by a 'Variable Structure Type Four-wheeled Robot'�C1997/09�C1997 IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS'97)

�����s�^�r�ԗփ��{�b�g�̌���(��1��)-���{�b�g�̋@�\�ƕ��s�V�~�����[�V����-�C1997/09�C��15����{���{�b�g�w��w�p�u����

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Fast Passing over Steps by a Variable Structure Type Four-wheeled Robot Considering the Collision in Landing�C1996/09�C2nd ECPD Int. Conf. on Advanced Robotics, Intelligent�@Automation and Active Systems

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Dynamic Trajectory Control of a Variable Structure Type Four-wheeled Robot to Pass over Steps�C1996/03�C4th Int. Workshop on Advanced Motion Control

A Four-wheeled Robot to Pass over Steps by Changing Running Control Modes�C1995/05�C1995 IEEE Int. Conf. On Robotics and Automation(ICRA 95)

�\���•ό^4�փ��{�b�g�̊J���i��6��j-�i�����~�̎���-�C1994/11�C��12����{���{�b�g�w��w�p�u����

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Attitude Estimation of Mobile Robots with Known and Unknown Dynamics�C1992/03�C2nd IEEE International Workshop on Advanced Motion Controls

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