Kazuya Tamegaya Yoshikazu Kanamiya Manabu Nagao Daisuke Sato Inertia-coupling based balance control of a humanoid robot on unstable ground. 151-156 2008 Humanoids http://dx.doi.org/10.1109/ICHR.2008.4755960 conf/humanoids/2008 db/conf/humanoids/humanoids2008.html#TamegayaKNS08