Postural and Driving Control of a Variable-Configuration-Type Parallel Bicycle. - Kazuo Yamafuji; Atsushi Koshiyama (J. Robotics Mechatronics, 1991)

Design and Control of an All-Direction Steering Type Mobile Robot. - Atsushi Koshiyama; Kazuo Yamafuji (Int. J. Robotics Res., 1993)

Development and Motion Control of the All-Direction Steering-Type Mobile Robot (1st Report: Analyses and Experiments on Postural Stability and Ascent/Descent on a Slope). - Atsushi Koshiyama; Kazuo Yamafuji (J. Robotics Mechatronics, 1993)

Development and Motion Control of the All-Direction Steering-Type Mobile Robot (2nd Report: Principle, Control Methods and Experiments on Steering of the Robot). - Atsushi Koshiyama; Kazuo Yamafuji (J. Robotics Mechatronics, 1993)