On walking behavior strategy for spider-robot based on environmental information. - Takeo Ohnishi; Toshiyuki Asakura (IROS, 2004)

Velocity Control Strategy for a Spider-Robot Based on Autonomous Walking Form Transition. - Takeo Ohnishi; Toshiyuki Asakura (J. Adv. Comput. Intell. Intell. Informatics, 2006)