Design and Control of a Mobile Robot with an Articulated Body. - Shigeo Hirose; Akio Morishima (Int. J. Robotics Res., 1990)

Impedance control of articulated body mobile robot "Koryu". - Akio Morishima; Shigeo Hirose (IROS, 1993)

Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control. - Akio Morishima; Shigeo Hirose (J. Robotics Mechatronics, 2003)