Author,Title,Journal,ISSN,Publisher,Date,Volume,Number,Page,URL,URL(DOI)
HUANG Qingjiu and HASE Takamasa and ONO Kyosuke,Optimal Trajectory Planning Method Using Inequality State Constraint for a Biped Walking Robot with Upper Body Mass,Journal of System Design and Dynamics,1881-3046,The Japan Society of Mechanical Engineers,2007,1,2,168-179,https://cir.nii.ac.jp/crid/1390282680247777408,https://doi.org/10.1299/jsdd.1.168