Fundamental Performance of 6-Wheeled Off-Road Vehicle "HELIOS-V". - Yasuyuki Uchida; Kazuya Furuichi; Shigeo Hirose (ICRA, 1999)

Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel. - Yasuyuki Uchida; Kazuya Furuichi; Shigeo Hirose (J. Robotics Mechatronics, 2000)