Stopper Angle Design for a Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints. - Yoshimichi Oka; Atsushi Kakogawa; Shugen Ma (IROS, 2018)

A Wheeled V-shaped In-Pipe Robot with Clutched Underactuated Joints. - Yoshimichi Oka; Atsushi Kakogawa; Shugen Ma (ICRA, 2021)

Control technique of a V-shaped in-pipe robot composed of two underactuated roll-pitch joints. - Yoshimichi Oka; Atsushi Kakogawa; Yang Tian; Shugen Ma (Adv. Robotics, 2022)