Development of pipe inspection robot; driving system and control of outer-rotor-typed spherical ultrasonic motor. - Masahiko Hoshina; Tomoaki Mashimo; Shigeki Toyama (ICAR, 2009)

Development of spherical ultrasonic motor as a camera actuator for pipe inspection robot. - Masahiko Hoshina; Tomoaki Mashimo; Shigeki Toyama (IROS, 2009)

Position control methods of spherical ultrasonic motor. - Naoyuki Takesue; Tomohiro Ohara; Ryota Ishibashi; Shigeki Toyama; Masahiko Hoshina; Yoshiyuki Hirai; Naoki Fukaya; Jumpei Arata; Hideo Fujimoto (IROS, 2010)

Spherical ultrasonic motor drive system for camera orientation in pipe inspection. - Masahiko Hoshina; Tomoaki Mashimo; Naoki Fukaya; Osamu Matsubara; Shigeki Toyama (Adv. Robotics, 2013)