Concept and development of general rescue robot CUL. - Kenichi Tokuda; Koichi Osuka; Shinsuke Yano; Toshiro Ono (IROS, 1999)

Rescue robot CUL: walking system based on a 'Robotic Follower'. - Kenichi Tokuda; Koichi Osuka; Yoshihiro Mori; Shinsuke Yano (Adv. Robotics, 2002)