Design of a robot capable of moving on a vertical wall. - Akira Nishi; Yasuo Wakasugi; Kazuya Watanabe (Adv. Robotics, 1986)

A robot capable of moving on a vertical wall using thrust force. - Akira Nishi; Mitsushi Ohkura; Hiromori Miyagi (IROS, 1990)

Control of a wall-climbing robot using propulsive force of propeller. - Akira Nishi; Hiromori Miyagi (IROS, 1991)

Mechanism and control of propeller type wall-climbing robot. - Akira Nishi; Hiromori Miyagi (IROS, 1994)

Robot actuation with low-pressure air-powered motors. - Yi Zhang; Akira Nishi (Adv. Robotics, 1998)