The gear mechanism with passive rollers: The input mechanism to drive the omnidirectional gear and worm gearing. - Riichiro Tadakuma; Kenjiro Tadakuma; Minoru Takagi; Shotaro Onishi; Gaku Matsui; Kyohei Ioka; Yuichi Tsumaki; Mitsuru Higashimori; Makoto Kaneko (ICRA, 2013)

Worm wheel mechanism with passive rollers. - Kenjiro Tadakuma; Riichiro Tadakuma; Shotaro Onishi; Yuichi Tsumaki (Adv. Robotics, 2014)