Driving-Torque Reduction for Aqua-Robot-Manipulator by Ejecting Air Bubbles. - Masakazu Ogasawara; Fumio Hara (J. Robotics Mechatronics, 1989)

Fluid Drag Force Production and Motion Control of an Aquarobot Manipulator by Ejecting Air Bubbles. - Masakazu Ogasawara; Fumio Hara (J. Robotics Mechatronics, 1990)