The following publications are possibly variants of this publication:
- Energy-Efficient Trajectory Planning for Biped Walking RobotQingjiu Huang, Takamasa Hase. robio 2006: 648-653 [doi]
- Walking patterns and actuator specifications for a biped robotQiang Huang, Shuuji Kajita, Noriho Koyachi, Kenji Kaneko, Kazuhito Yokoi, Tetsuo Kotoku, Hirohiko Arai, Kiyoshi Komoriya, Kazuo Tanie. iros 1999: 1462-1468 [doi]
- A High Stability, Smooth Walking Pattern for a Biped RobotQiang Huang, Shuuji Kajita, Noriho Koyachi, Kenji Kaneko, Kazuhito Yokoi, Hirohiko Arai, Kiyoshi Komoriya, Kazuo Tanie. icra 1999: 65