Gliding, swimming and walking: Development of multi-functional underwater robot Glide Walker. - Hirotaka Komura; Satoshi Kitano; Hiroya Yamada; Gen Endo (ICRA, 2014)

Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment. - Hirotaka Komura; Hiroya Yamada; Shigeo Hirose; Gen Endo; Koichi Suzumori (IROS, 2015)

Development of snake-like robot ACM-R8 with large and mono-tread wheel. - Hirotaka Komura; Hiroya Yamada; Shigeo Hirose (Adv. Robotics, 2015)

Eccentric Crank Rover: A novel crank wheel mechanism with eccentric wheels. - Hirotaka Komura; Gen Endo; Koichi Suzumori (IROS, 2016)

Turning method that minimizes turning radius for snake-like robot with active joints and active wheels. - Hirotaka Komura; Gen Endo; Hiroyuki Nabae; Koichi Suzumori (SII, 2016)

Spiral Mecanum Wheel achieving omnidirectional locomotion in step-climbing. - Noriyuki Yamada; Hirotaka Komura; Gen Endo; Hiroyuki Nabae; Koichi Suzumori (AIM, 2017)