Motion control of passive mobile robot consisting of casters with servo brakes. - Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge (IROS, 2009)

Motion control of passive mobile robot with multiple casters based on feasible braking force and moment. - Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge (IROS, 2010)

Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. - Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge (IROS, 2011)

Adaptive attitude design with risk-sensitive optimal feedback control in physical human-robot interaction. - Masao Saida; Jose Ramon Medina; Sandra Hirche (RO-MAN, 2012)

Motion Control of Caster-Type Passive Mobile Robot with Servo Brakes. - Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge (Adv. Robotics, 2012)

Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base. - Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge (IROS, 2014)