A General Method for Direct Kinematic Equation Computation of Closed Link Mechanisms. - Zaiquan Sheng; Kazuo Yamafuji (J. Robotics Mechatronics, 1994)

Stability and Motion Control of a Unicycle (1st Report: Dynamics of a Human Riding Unicycle and Its Modeling by Link Mechanisms). - Zaiquan Sheng; Kazuo Yamafuji (J. Robotics Mechatronics, 1994)

Realization of a Human Riding a Unicycle by a Robot. - Zaiquan Sheng; Kazuo Yamafuji (ICRA, 1995)

Study of the Stability and Motion Control of a Unicycle (5th Report: Experimental Results by Fuzzy Gain Schedule PD Controllers). - Zaiquan Sheng; Kazuo Yamafuji; Sergei V. Ulyanov (J. Robotics Mechatronics, 1996)

Postural stability of a human riding a unicycle and its emulation by a robot. - Zaiquan Sheng; Kazuo Yamafuji (IEEE Trans. Robotics Autom., 1997)