Autonomous pipeline inspection and maintenance robot with inch worm mobile mechanism. - Toshio Fukuda; Hidemi Hosokai; Masashi Otsuka (ICRA, 1987)

Trajectory Generation and Path Planning Expert System for Inspection Robots. - Toshio Fukuda; Hidemi Hosokai; Masashi Otsuka (IROS, 1988)

Task Planning and Control of Pipe Inspection Robots. - Toshio Fukuda; Hidemi Hosokai; Masashi Otsuka (IROS, 1989)