Development of ASURA I: Harvestman-like hexapod walking robot - Approach for long-legged robot and leg mechanism design. - Ryuichi Hodoshima; Soichiro Watanabe; Yuki Nishiyama; Akihiro Sakaki; Yoshikazu Ohura; Shinya Kotosaka (IROS, 2013)

The ASURA I harvestman-like hexapod walking robot: compact body and long leg design. - Ryuichi Hodoshima; Yoshikazu Ohura; Yuki Nishiyama; Akihiro Sakaki; Soichiro Watanabe; Shinya Kotosaka (Adv. Robotics, 2016)