The following publications are possibly variants of this publication:
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- An Analytical Method for Real-Time Gait Planning for Humanoid RobotsKensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa. ijhr, 3(1):1-19, 2006. [doi]
- Real-time Planning of Humanoid Robot s Gait for Force Controlled ManipulationKensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa. icra 2004: 616-622 [doi]
- An analytical method on real-time gait planning for a humanoid robotKensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa. humanoids 2004: 640-655 [doi]