Device Distributed Approach to Expandable Robot System Using Intelligent Device with Super-Microprocessor. - Kei Okada; Akira Fuyuno; Takeshi Morishita; Takashi Ogura; Yasumoto Ohkubo; Yasuyuki Kino; Masayuki Inaba; Hirochika Inoue (J. Robotics Mechatronics, 2004)