The following publications are possibly variants of this publication:
- Load Distributed Whole-body Motion Generation Method for Humanoids by Minimizing Average Joint Torque RatioRyusuke Adachi, Shigeru Kanzaki, Kei Okada, Masayuki Inaba. IEEEias 2006: 804-811
- Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robotShintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohoei Kakiuchi, Kei Okada, Masayuki Inaba. icra 2014: 1775-1781 [doi]
- Whole-Body Control of Humanoid Robot in 3D Multi-Contact under Contact Wrench Constraints Including Joint Load Reduction with Self-Collision and Internal Wrench DistributionNaoki Hiraoka, Masaki Murooka, Hideaki Ito, Iori Yanokura, Kei Okada, Masayuki Inaba. iros 2019: 3860-3867 [doi]