System structure and description for tool manipulation. - Satoru Matsuo; Kenichiro Shimokura; Yukihiro Kubota; Eiji Mitsuya; Makoto Mizukawa (IROS (1), 1995)

Design and Implementation of WBT System Somponents and Test Tools for WBT Content Standards. - Kiyoshi Nakabayashi; Yukihiro Kubota; Hiroshi Yoshida; Tatsuo Shinohara (ICALT, 2001)