Research on a six-legged walking robot with parallel mechanism. - Yusuke Ota; Yoshihiko Inagaki; Kan Yoneda; Shigeo Hirose (IROS, 1998)

Design and Control of 6-DOF Mechanism for Twin-Frame Mobile Robot. - Yusuke Ota; Kan Yoneda; Fumitoshi Ito; Shigeo Hirose; Yoshihiko Inagaki (Auton. Robots, 2001)