Functionally Distributed Control Architecture for Robot Systems. - Tetsuya Taira; Nobuyuki Yamasaki (CATA, 2004)

Functionally Distributed Control Architecture for Autonomous Mobile Robots. - Tetsuya Taira; Nobuyuki Yamasaki (J. Robotics Mechatronics, 2004)

Design and implementation of reconfigurable modular humanoid robot architecture. - Tetsuya Taira; Nobuhide Kamata; Nobuyuki Yamasaki (IROS, 2005)

Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture. - Tetsuya Taira; Nobuyuki Yamasaki (J. Robotics Mechatronics, 2005)

Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot. - Tetsuya Taira; Nobuyuki Yamasaki (J. Robotics Mechatronics, 2006)