A robotic catapult based on the closed elastica and Its application to robotic tasks. - Hiromi Mochiyama; Masamitsu Watari; Hideo Fujimoto (IROS, 2007)

An asymmetric robotic catapult based on the closed elastica for jumping robot. - Atsushi Yamada; Masamitsu Watari; Hiromi Mochiyama; Hideo Fujimoto (ICRA, 2008)

A robotic catapult based on the closed elastica with a high stiffness endpoint and its application to swimming tasks. - Atsushi Yamada; Masamitsu Watari; Hiromi Mochiyama; Hideo Fujimoto (IROS, 2008)