MOGRER: A vehicle study and realization for in-pipe inspection tasks. - Tokuji Okada; Tsuyoshi Sanemori (IEEE J. Robotics Autom., 1987)

An articulated multi-vehicle robot for inspection and testing of pipeline interiors. - Shigeru Fujiwara; Ryouzou Kanehara; Tokuji Okada; Tsuyoshi Sanemori (IROS, 1993)