Internal force control for rolling operation of polygonal prism. - Gaku Takeo; Tomohito Takubo; Kenichi Ohara; Yasushi Mae; Tatsuo Arai (ROBIO, 2009)

Rotation control of polygonal prism by multi-legged robot. - Gaku Takeo; Tomohito Takubo; Kenichi Ohara; Yasushi Mae; Tatsuo Arai (AMC, 2010)