Development of a transformational mobile robot to search victims under debris and rubbles. - Katsuhiko Tabata; Akio Inaba; Qin Zhang; Hisanori Amano (IROS, 2004)

Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers. - Katsuhiko Tabata; Toshiaki Iwai; Shigeki Kudomi; Yoshimichi Endo; Yoshifumi Nishida (J. Robotics Mechatronics, 2014)