Horse riding robot for health promotion and its control. - Shuoyu Wang; Koichi Kawata; Takeshi Tsuchiya; Kenji Ishida; Tetsuhiko Kimura; Ryoji Nakajima; Youichi Shinomiya (Adv. Robotics, 1998)

Trajectory planning method of guide robots for a achieving the guidance. - Yoshinobu Mizobuchi; Shuoyu Wang; Koichi Kawata; Masaki Yamamoto 006 (ROBIO, 2005)