In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism. - Fumio Ito; Kazuki Takaya; Masashi Kamata; Manabu Okui; Yasuyuki Yamada; Taro Nakamura 001 (IEEE Access, 2021)

Confirmation of Variable Diameter TRM Operation. - Yuta Naruse; Kazuki Takaya; Fumio Ito; Jun'ichi Watanabe; Taro Nakamura 001 (CLAWAR, 2022)

Traction Amplified Actuation System for Inspecting Narrow and Complex Pipes Using Enhanced Linear Antagonistic Mechanism-Bend Pipe Passage Model and Force Comparison. - Fumio Ito; Yuta Naruse; Kazuki Takaya; Jun'ichi Watanabe; Taro Nakamura 001 (IEEE Access, 2023)