The following publications are possibly variants of this publication:
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- Obstacle avoidance using virtual impedance wall for limb mechanism robotKenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai. robio 2009: 604-609 [doi]
- Collision Avoidance Using Contact Information with Multiple Objects by Multi-Leg RobotTomohito Takubo, Keishi Kominami, Kenichi Ohara, Yasushi Mae, Tatsuo Arai. jrm, 28(1):17-30, 2016. [doi]