Experiments on a floating underwater robot with a two-link manipulator. - Shinichi Sagara; Takeshi Tanikawa; Masakazu Tamura; Ryozo Katoh (Artif. Life Robotics, 2001)

Digital RAC for underwater vehicle-manipulator systems considering singular configuration. - Shinichi Sagara; Masakazu Tamura; Takashi Yatoh; Kenzo Shibuya (Artif. Life Robotics, 2006)

Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator. - Takashi Yatoh; Shinichi Sagara; Masakazu Tamura (Artif. Life Robotics, 2008)