| 2007 | ICRA | Stability Proof of Biped Walking Control based on Point-Contact. | Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda |
| 2006 | ICRA | Proposal of Smooth Biped Walking Control by Means of Heel-off Motion. | Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda |
| 2006 | SIGUCCS | Collecting students' degree of comprehension with mobile phones. | Naomi Fujimura, Masahiro Doi |
| 2005 | ICRA | Realization of 3-dimensional Dynamic Walking Based on the Assumption of Point-contact. | Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda |
| 2005 | ICRA | Energy Based Swing Control of a Brachiating Robot. | Hideki Kajima, Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda |
| 2005 | IROS | 3D dynamic walking based on the inverted pendulum model with two degree of underactuation. | Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda |
| 2004 | ICRA | Passive Trajectory Control of the Lateral Motion in Bipedal Walking. | Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda |
| 2003 | IROS | Study on brachiation controller for the multi-locomotion robot: redesigning behavior controllers. | Hideki Kajima, Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda |