Snake-like active wheel robot ACM-R4.1 with joint torque sensor and limiter. - Shunichi Takaoka; Hiroya Yamada; Shigeo Hirose (IROS, 2011)

A snake-like robot for real-world inspection applications (the design and control of a practical active cord mechanism). - Hiroya Yamada; Shunichi Takaoka; Shigeo Hirose (Adv. Robotics, 2013)