Wheeled inverted pendulum type robotic wheelchair with integrated control of seat slider and rotary link between wheels for climbing stairs. - Motoki Shino; Nobuyasu Tomokuni; Genki Murata; Masaya Segawa (ARSO, 2014)

Dynamic Stability Control of Inverted-Pendulum-Type Robotic Wheelchair for Going Up and Down Stairs. - Yuya Onozuka; Nobuyasu Tomokuni; Genki Murata; Motoki Shino (IROS, 2020)