Mechanism and Control of Mobile Pipeline Maintenance Robot with Lazy Tongs Mechanism. - Hidemi Hosokai; Fumio Hara; Yasuyuki Uchida; Yasunori Abe; Koetsu Tanaka; Yoshio Tanaka (ICRA, 1995)

Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism. - Hidemi Hosokai; Fumio Hara; Yasuyuki Uchida; Yasunori Abe; Koetsu Tanaka; Yoshio Tanaka (J. Robotics Mechatronics, 1995)

Fundamental Performance of 6-Wheeled Off-Road Vehicle "HELIOS-V". - Yasuyuki Uchida; Kazuya Furuichi; Shigeo Hirose (ICRA, 1999)

Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel. - Yasuyuki Uchida; Kazuya Furuichi; Shigeo Hirose (J. Robotics Mechatronics, 2000)