Estimation of contact position between object and environment based on probing of robot manipulator. - Tsuneo Yoshikawa; Yong Yu 003; Masashi Koike (IROS, 1996)

Off-line teaching system of a robot cell for steel pipe processing. - Masami Kobayashi; Sokichi Ogawa; Masashi Koike (Adv. Robotics, 2001)