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  author = {Shigeo Hirose and Yasushi Fukuda and Kan Yoneda and Akihiko Nagakubo and Hideyuki Tsukagoshi and Keisuke Arikawa and Gen Endo and Takahiro Doi and Ryuichi Hodoshima},
  title = {Quadruped Walking Robots at Tokyo Institute of Technology: Design, Analysis, and Gait Control Methods},
  journal = {IEEE Robotics and Automation Magazine},
  year = 2009,
}

@article{CTT100542375,
  author = {Takahiro Doi and Ryuichi Hodoshima and Yasishi Fukuda and Shigeo Hirose and Toshihito Okamoto},
  title = {Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -},
  journal = {Journal of Robotics and Mechatronics},
  year = 2006,
}