Accepted Papers
87) Ching Wen Chin and Motoyasu Tanaka: Joint Load Analysis and Load-reducing Body Shape of a Snake-like Robot under Vertical Load, IEEE/ASME Transactions on Mechatronics, accepted.URL Repository
Published Papers
86) Ryohei Michikawa, Kiona Hosotani, Yuya Shimizu, Ching Wen Chin, Xixun Wang, Tomohiro Hayakawa, Ryusuke Fujisawa, Tetsushi Kamegawa, Motoyasu Tanaka, and Fumitoshi Matsuno: Development and Verification of Connectors for Modular Robots to Complete Practical Tasks on the Moon, Artificial Life and Robotics, vol.30, pp.198-207, 2025. URL Repository
85) Mizuki Nakajima, Kosuke Fukui, and Motoyasu Tanaka: Semi-autonomous Stair Climbing Control for an Articulated Mobile Robot by Propagating a Single Backward Wave, Journal of Robotics and Mechatronics, , vol.36, no.6, pp. 1339-1347, 2024. URL (Open Access)
84) Yuki Ishikawa, Mizuki Nakajima, and Motoyasu Tanaka: Knot Tying, Hanging, and Transportation Motions of Snake Robots by Utilizing Half Hitch Knot, Journal of Robotics and Mechatronics, vol.36, no.6, pp.1396-1407, 2024. URL (Open Access)
83) Ryosuke Kobayashi, Ching Wen Chin, and Motoyasu Tanaka: Tension-adaptive Body Shape Control of a Snake Robot for Rope Climbing by Current Feedback, Journal of Robotics and Mechatronics, vol.36, no.6, pp.1348-1356, 2024. URL (Open Access)
82) Ryo Ariizumi, Hiroto Mizuno, Hiroki Sasaki, Toru Asai, Shun-ichi Azuma, and Motoyasu Tanaka: Motion Design for A Snake Robot to Move in between Two Adjacent Walls, Journal of Robotics and Mechatronics, vol.36, no.6, pp.1357-1368, 2024. URL (Open Access)
81) Shunta Suyama, Mizuki Nakajima, and Motoyasu Tanaka: Active Inclination Modification for Motion Control of Snake Robots on Planes with Variable Inclination, Journal of Robotics and Mechatronics, vol.36, no.6, pp.1438-1447, 2024. URL (Open Access)
80) Ching Wen Chin and Motoyasu Tanaka: Local Shape Transformation of a Snake Robot by Changing Approximation Range on Continuous Curve, Journal of Robotics and Mechatronics, vol.36, no.6, pp.1315-1327, 2024. URL (Open Access)
79) Motoyasu Tanaka, Sota Miyamoto, Shigeaki Takatsu, Yutaro Kimura, and Hironori Tozawa: Autonomous Inspection System for Underground Pits using an Articulated Mobile Robot, Journal of Robotics and Mechatronics, pp.1302-1314, 2024. URL (Open Access)
78) Yuto Yoshida, Ching Wen Chin, and Motoyasu Tanaka: Traversing between Two Planes Using Obstacle-aided Locomotion of a Snake Robot, IEEE Robotics and Automation Letters, vol.9, issue 11, pp.10288-10294, 2024. URL Repository
77) Haruki Tanihira and Motoyasu Tanaka: Motion Design of a Pipe Cleaning Snake Robot with a Long Brush, Advanced Robotics, vol.38, issue 13, pp.863-879, 2024. URL Repository
76) Mizuki Nakajima and Motoyasu Tanaka: Motion Control of a Snake Robot on Multiple Inclined Planes, Advanced Robotics, vol. 38, issue 11, pp.784-800, 2024. URL Repository
75) Shunta Suyama, Mizuki Nakajima, Hikaru Arita, and Motoyasu Tanaka: Control of a Snake Robot with Proximity Sensors to Adapt for Two Variable Planes, IEEE Access, vol.12, pp.46864-46880, 2024. URL (Open Access)
74) Haruki Tanihira, Mizuki Nakajima, and Motoyasu Tanaka: Feedback Control of a Pipe Cleaning Snake Robot with Two Helixes Connected, Advanced Robotics, vol.38, no.2, pp.63-81, 2024. URL Repository
73) Koki Furuike, Mizuki Nakajima, Shinnosuke Fukumura, and Motoyasu Tanaka: Semiautonomous Recovery System from a Stuck State of an Articulated Mobile Robot, Advanced Robotics, vol.37, issue 17, pp.1112-1127, 2023. URL Repository
72) Hiromu Yoshida, Taro Yamazaki, Mizuki Nakajima, and Motoyasu Tanaka: Excavating by Snake Robots with Fins and a Drill, Advanced Robotics, vol.37, issue 14, pp.942-958, 2023. URL Repository
71) Takuro Takanashi, Mizuki Nakajima, Tatsuya Takemori, and Motoyasu Tanaka: Reaction Force Analysis for Obstacle-aided Locomotion of Snake Robot Using Piecewise Helixes, IEEE Access, vol.11, pp.44150-44166, 2023. URL (Open Access)
70) Ryota Watanabe and Motoyasu Tanaka: Principle of Object Support by Rope Deformation and its Application to Rope Climbing by Snake Robot, Advanced Robotics, vol.37, issue 9, pp. 591-602, 2023. URL Repository
69) Shotaro Ueno, Mizuki Nakajima, and Motoyasu Tanaka: Development of an Articulated Mobile Robot Moving on Magnetic Curved Walls and Passing Over Obstacles, Advanced Robotics, vol.36, issue 21, pp.1156-1171, 2022. URL Repository
68) Ching Wen Chin, Mizuki Nakajima, Koki Furuike, Kazuyuki Kon, and Motoyasu Tanaka: Development and Control of an Articulated Mobile Robot T2 Snake-4.2 for Plant Disaster Prevention -Development of M2 arm and C-hand, Advanced Robotics, vol.36, issue 21, pp.1134-1155, 2022. URL Repository
67) Ryoga Konishi, Mizuki Nakajima, Kazuo Tanaka, Fumitoshi Matsuno, and Motoyasu Tanaka: Design for Snake Robot Motion via Partial Grasping on Pipes, Advanced Robotics, vol.37, no.4, pp.227-240, 2023. URL Repository
66) Yutoku Takahashi, Motoyasu Tanaka, and Kazuo Tanaka: Coordinated flight path generation and fuzzy model-based control of multiple unmanned aerial vehicles in windy environments, International Journal of Fuzzy Systems, vol.25, pp.1-14, 2023. URL Repository
65) Takuro Takanashi, Mizuki Nakajima, Tatsuya Takemori, and Motoyasu Tanaka: Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes, IEEE Robotics and Automation Letters, vol.7, issue 4, pp.10542-10549, 2022. URL Repository
64) Yuta Iguchi, Mizuki Nakajima, Ryo Ariizumi, and Motoyasu Tanaka: Step Climbing Control of Snake Robot with Prismatic Joints, MDPI Sensors, vol.22, no.13: 4920, 2022. URL
63) Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno: Adaptive Helical Rolling of a Snake Robot to a Straight Pipe with Irregular Cross-sectional Shape, IEEE Transactions on Robotics, vol.39, issue 1, pp.437-451, 2023. URL Repository
62) Mizuki Nakajima, Shinnosuke Fukumura, Kazuo Tanaka, and Motoyasu Tanaka: Local body shape control of an articulated mobile robot and an application for recovery from a stuck state, Advanced Robotics, vol.26, issue 10, pp.488-500, 2022. URL Repository
61) Mizuki Nakajima, Qi Cheng, and Motoyasu Tanaka: Gait Design and Experimental Validation of a Snake Robot on a Pipe with Branches Using Spiral Stairs Function, Artificial Life and Robotics, vol.27, pp.300-307, 2022. URL Repository
60) Koki Harada, Ryo Ariizumi, Motoyasu Tanaka, Toru Asai, and Shun-ichi Azuma: Head trajectory tracking control of an extendable snake-like robot, Artificial Life and Robotics, vol.27, pp.316-323, 2022. URL Repository
59) Belal Elsayed, Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno: Mobile Manipulation Using a Snake Robot in a Helical Gait, IEEE/ASME Transactions on Mechatronics, vol.27, issue 5, pp.2600-2611, 2022. URL Repository
58) Fan-Nong Yu, Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, and Shun-Hung Tsai: Descriptor Form Design Methodology for Polynomial Fuzzy-Model-Based Control Systems, International Journal of Fuzzy Systems, vol.24, pp.841-854, 2022. URL Repository
57) Mariko Inazawa, Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno: Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures, Frontiers in Robotics and AI, vol.8, article 629368, pp.1-18, 2021. URL Repository
56) Mizuki Nakajima, Motoyasu Tanaka, and Kazuo Tanaka: Control of a snake robot for passing through a self-closing door, Advanced Robotics, vol.35, issue 10, pp.635-647, 2021. URL Repository
55) Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno: Hoop-passing Motion for the Snake Robot Realizing Motion Transition across Different Environments, IEEE Transactions on Robotics, vol.37, issue 5, pp.1696-1711, 2021. URL Repository
54) Motoyasu Tanaka, Hidemasa Sawabe, Mizuki Nakajima, and Ryo Ariizumi: Redundant Control of a Planar Snake Robot With Prismatic Joints, International Journal of Control, Automation, and Systems, vol.19, no.10, pp.3475-3486, 2021. URL Repository
53) Ryo Ariizumi, Kentaro Koshio, Motoyasu Tanaka, and Fumitoshi Matsuno: Passive Joint Control of a Snake Robot by Rolling Motion, Artificial Life and Robotics, vol.25, pp.503-512, 2020. URL Repository
52) Kai-Yi Wong, Motoyasu Tanaka, and Kazuo Tanaka: Path-Following Based Design for Guaranteed Cost Control of Polynomial Fuzzy Systems, International Journal of Fuzzy Systems, vol.23, pp.1-12, 2021. URL Repository
51) Motoyasu Tanaka, Mizuki Nakajima, Ryo Ariizumi, and Kazuo Tanaka: Three-dimensional Steering for an Articulated Mobile Robot with Prismatic Joints with consideration of hardware limitations, Advanced Robotics, vol.34, issue 11, pp.767-779, 2020. URL Repository
50) Kazuo Tanaka, Motoyasu Tanaka, Arimasa Iwase, and Hua O. Wang: A Rational Polynomial Tracking Control Approach to a Common System Representation for Unmanned Aerial Vehicles, IEEE/ASME Transactions on Mechatronics, vol.25, issue 2, pp.919-930, 2020. URL Repository
49) Jairo Moreno Saenz, Motoyasu Tanaka, and Kazuo Tanaka: Relaxed Stabilization and Disturbance Attenuation Control Synthesis Conditions for Polynomial Fuzzy Systems, IEEE Transactions on Cybernetics, vol.51, issue 4, pp.2093-2106, 2021. URL Repository
48) Ying-Jen Chen, Kazuo Tanaka, Motoyasu Tanaka, Shun-Hung Tsai, Hua O. Wang: A Novel Path-Following-Method-Based Polynomial Fuzzy Control Design, IEEE Transactions on Cybernetics, vol.51, issue 6, pp.2993-3003, 2021. URL Repository
47) Nobutaka Matsumoto, Motoyasu Tanaka, Mizuki Nakajima, Masahiro Fujita, and Kenjiro Tadakuma: Development of a Folding Arm on an Articulated Mobile Robot for Plant Disaster Prevention, Advanced Robotics, vo.34, issue 2, pp.89-103, 2020. URL Repository
46) Mizuki Nakajima, Motoyasu Tanaka, and Kazuo Tanaka: Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation, IEEE Robotics and Automation Letters, vol.5, no.1, pp.111-118, 2020. URL Repository
45) Motoyasu Tanaka, Kazuyuki Kon, Mizuki Nakajima, Nobutaka Matsumoto, Shinnosuke Fukumura, Kosuke Fukui, Hidemasa Sawabe, Masahiro Fujita, and Kenjiro Tadakuma: Development and Field Test of the Articulated Mobile Robot T2 Snake-4 for Plant Disaster Prevention, Advanced Robotics, vol.34, issue 2, pp.70-88, 2020. URL Repository
44) Kazuo Tanaka, Motoyasu Tanaka, Yutoku Takahashi, Arimasa Iwase, and Hua O. Wang: 3D Flight Path Tracking Control for Unmanned Aerial Vehicles under Wind Environments, IEEE Transactions on Vehicular Technology, vol.68, issue 12, pp.11621-11634, 2019. URL Repository
43) Hidemasa Sawabe, Mizuki Nakajima, Motoyasu Tanaka, Kazuo Tanaka, and Fumitoshi Matsuno: Control of an Articulated Wheeled Mobile Robot in Pipes, Advanced Robotics, no.33, issue 20, pp.1072-1086, 2019. URL Repository
42) Ryo Ariizumi and Motoyasu Tanaka, Manipulability Analysis of a Snake Robot without Lateral Constraint for Head Position Control, Asian Journal of Control, vol.22, issue 6, pp.2282-2300, 2020. URL Repository
41) Motoyasu Tanaka, Kenjiro Tadakuma, Mizuki Nakajima, and Masahiro Fujita: Task-space Control of Articulated Mobile Robots with a Soft Gripper for Operations, IEEE Transactions on Robotics, vol.35, issue 1, pp.135-146, 2019. URL Repository
40) Ryusuke Fujisawa, Motoyasu Tanaka, and Taro Fujikawa: Development of Experimental System for a Snake-like Gliding Model, Artificial Life and Robotics, vol.23, issue 4, pp.571-576, 2018. URL Repository
39) Ryo Ariizumi, Ryota Takahashi, Motoyasu Tanaka, and Toru Asai: Head Trajectory Tracking Control of a Snake Robot and its Robustness Under an Actuator Failure, IEEE Transactions on Control Systems Technology, vol.27, no.6, pp.2589-2597, 2018. URL Repository
38) Tatsuya Takemori, Motoyasu Tanaka, and Fumitoshi Matsuno: Gait Design and Experiment for a Snake Robot Designed by Connecting Curve Segments, IEEE Transactions on Robotics, vol.34, issue 5, pp.1384-1391, 2018. URL Repository
37) Mizuki Nakajima, Motoyasu Tanaka, Kazuo Tanaka, and Fumitoshi Matsuno: Motion Control of a Snake Robot Moving between Two Non-parallel Planes, Advanced Robotics, vol.32, issue 10, pp.559-573, 2018. URL Repository
36) Motoyasu Tanaka, Mizuki Nakajima, Yosuke Suzuki, and Kazuo Tanaka: Development and Control of Articulated Mobile Robot for Climbing Steep Stairs, IEEE/ASME Transactions on Mechatronics, vol.23, issue 2, pp.531-541, 2018. URL Repository
35) Alissa Ully Ashar, Motoyasu Tanaka, and Kazuo Tanaka: Stabilization and Robust Stabilization of Polynomial Fuzzy Systems: A Piecewise Polynomial Lyapunov Function Approach, International Journal of Fuzzy Systems, vol.20, issue 5, pp.1423-1438, 2018. URL Repository
34) Kazuo Tanaka, Motoyasu Tanaka, Yutoku Takahashi, and Hua O. Wang: A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty, IEEE/ASME Transactions on Mechatronics, vol.23, issue 2, pp.518-523, 2018. URL Repository
33) Motoyasu Tanaka, Kazuo Tanaka, and Hua O. Wang: Practical Model Construction and Stable Control of an Unmanned Aerial Vehicle with Parafoil Type Wing, IEEE Transactions on Systems, Man and Cybernetics: Systems, vol.49, issue 6, pp.1291-1297, 2019. URL Repository
32) Kazuo Tanaka, Motoyasu Tanaka, Toshiya Kajiwara, and Hua O. Wang: A Practical SSVEP-based Algorithm for Perceptual Dominance Estimation in Binocular Rivalry, IEEE Transactions on Cognitive and Developmental Systems, vol.10, issue 2, pp.476-482, 2018. URL Repository
31) 藤澤隆介，梅本和希，田中基康，佐藤徳孝，永谷直久，勝山真規：ワイヤ移動式橋梁点検ロボットシステムARANEUSの開発と運用，土木学会論文集 F4分冊（建設マネジメント），vol.73, no.1, pp.26-37, 2017. URL
30) Motoyasu Tanaka and Kazuo Tanaka: Shape Control of a Snake Robot with Joint Limit and Self-collision Avoidance, IEEE Transactions on Control Systems Technology, vol.25, no.4, pp.1441-1448, 2017. URL Repository
29) Radian Furqon, Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, and Hua O. Wang: An SOS-based Control Lyapunov Function Design for Polynomial Fuzzy Control of Nonlinear Systems, IEEE Transactions on Fuzzy Systems, vol.25, no.4, pp.775-787, 2017. URL Repository
28) Motoyasu Tanaka and Kazuo Tanaka: Singularity Analysis of a Snake Robot and an Articulated Mobile Robot with Unconstrained Links, IEEE Transactions on Control Systems Technology, vol.24, no.6, pp.2070-2081, 2016. URL Repository
27) Ryo Ariizumi, Motoyasu Tanaka, and Fumitoshi Matsuno: Analysis and Heading Control of Continuum Planar Snake Robots Based on Kinematics and a General Solution Thereof, Advanced Robotics, vol.30, no.5, pp.301-314, 2016. URL Repository
26) Motoyasu Tanaka, Mizuki Nakajima, and Kazuo Tanaka: Smooth Control of an Articulated Mobile Robot with Switching Constraints, Advanced Robotics, vol.30, no.1, pp.29-40, 2016. URL Repository
25) Motoyasu Tanaka, Ying-Jen Chen, Kazuo Tanaka, and Hua O. Wang: A Simple Passive Attitude Stabilizer for Palm-size Aerial Vehicles, IEEE/ASME Transactions on Mechatronics, vol.21, no.1, pp.591-597, 2016. URL Repository
24) Kazuyuki Kon, Motoyasu Tanaka, and Kazuo Tanaka: Mixed Integer Programming-Based Semi-autonomous Step Climbing of a Snake Robot Considering Sensing Strategy, IEEE Transactions on Control Systems Technology, vol.24, no.1, pp.252-264, 2016. URL Repository
23) Kazuo Tanaka, Motoyasu Tanaka, Ying-Jen Chen, and Hua O. Wang: A New Sum-of-Squares Design Framework for Robust Control of Polynomial Fuzzy Systems with Uncertainties, IEEE Transactions on Fuzzy Systems, vol.24, no.1, pp.94-110, 2016. URL Repository
22) 田中基康，佐藤順亮，田中一男，松野文俊: 冗長シリアルリンクロボットの多点接触における衝突回避制御，計測自動制御学会論文集，vol.51, no.4, pp.226-232, 2015.
21) Motoyasu Tanaka and Kazuo Tanaka: Control of a Snake Robot for Ascending and Descending Steps, IEEE Transactions on Robotics, vol.31, no.2, pp.511-520, 2015. URL Repository
20) Motoyasu Tanaka, Kazuyuki Kon, and Kazuo Tanaka: Range-sensor-based Semiautonomous Whole-body Collision Avoidance of a Snake Robot, IEEE Transactions on Control Systems Technology, vol.23, no.5, pp.1927-1934, 2015. URL Repository
19) Motoyasu Tanaka, Kazuo Tanaka, and Fumitoshi Matsuno: Approximate Path-Tracking Control of Snake Robot Joints with Switching Constraints, IEEE/ASME Transactions on Mechatronics, vol.20, no.4, pp.1633-1641, 2015. URL Repository
18) Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, and Hua O. Wang: Stability Analysis and Region-of-Attraction Estimation Using Piecewise Polynomial Lyapunov Functions: Polynomial Fuzzy Model Approach, IEEE Transactions on Fuzzy Systems, vol.23, no.4, pp.1314-1322, 2015. URL Repository
17) Ying-Jen Chen, Motoyasu Tanaka, Kosuke Inoue, Hiroshi Ohtake, Kazuo Tanaka, Thierry Marie Guerra, Alexandre Kruszewski, and Hua O. Wang: A Nonmonotonically Decreasing Relaxation Approach of Lyapunov Functions to Guaranteed Cost Control for Discrete Fuzzy Systems, IET Control Theory and Applications, vol.8, no.16, pp.1716-1722, 2014. URL Repository
16) Motoyasu Tanaka, Ken Yamaguchi, Daisuke Ogura, Ying-Jen Chen, and Kazuo Tanaka: Nonlinear control of F16 aircraft via multiple nonlinear model generation for any trimmed equilibriums, International Journal of Fuzzy Systems, vol.16, no.2, 2014.
15) 田中基康，星野恵一，福島宏明，松野文俊：ヘビ型ロボットの接地部反力を考慮した跳躍制御，日本ロボット学会誌，vol.32, no.4, pp.386-394, 2014.
14) Ying-Jen Chen, Motoyasu Tanaka, Hiroshi Ohtake, Kazuo Tanaka, and Hua O. Wang: Discrete Polynomial Fuzzy Systems Control, IET Control Theory and Applications, vol.8, no.4, pp.288-296, 2014. URL Repository
13) Motoyasu Tanaka and Fumitoshi Matsuno: Control of Snake Robots with Switching Constraints: trajectory tracking with moving obstacle, Advanced Robotics, vol.28, issue 6, pp.415-429, 2014. URL Repository
12) Motoyasu Tanaka and Fumitoshi Matsuno: Modeling and Control of Head Raising Snake Robots by Using Kinematic Redundancy, Journal of Intelligent and Robotic Systems, vol.75, no.1, pp.53-69, 2014. URL Repository
11) Satoshi Toyoshima, Motoyasu Tanaka, and Fumitoshi Matsuno : A Study on Sinus-lifting Motion of a Snake Robot with Sequential Optimization of a Hybrid System, IEEE Transactions on Automation Science and Engineering, vol.11, no.1, pp.139-143, 2014. URL Repository
10) 田中基康，塚野洋章，松野文俊：円柱曲面上におけるヘビ型ロボットの滑落回避を考慮した軌道追従制御，計測自動制御学会論文集, vol.48, no.10, pp.664-673, 2012.
9) Kazuo Tanaka, Hiroshi Ohtake, Toshiaki Seo, Motoyasu Tanaka, and Hua O. Wang : Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach, IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol.42, no.5, pp.1330-1342, 2012. URL
8) Kazuo Tanaka, Motoyasu Tanaka, Hiroshi Ohtake, and Hua O. Wang : Shared Nonlinear Control in Wireless-Based Remote Stabilization: A Theoretical Approach, IEEE/ASME Transactions on Mechatronics, vol.17, no.3, pp.443-453 , 2012. URL
7) Kazuo Tanaka, Hiroshi Ohtake, Motoyasu Tanaka, and Hua O. Wang : Wireless Vision-based Stabilization of Indoor Microhelicopter, IEEE/ASME Transactions on Mechatronics, vol.17, no.3, pp.519-524, 2012. URL
6) Hiroaki Fukushima, Shogo Satomura, Toru Kawai, Motoyasu Tanaka, Tetsushi Kamegawa, and Fumitoshi Matsuno: Modeling and Control of a Snake-like Robot Using the Screw Drive Mechanism, IEEE Transactions on Robotics, vol.28, no.3, pp.541-554, 2012. URL
5) 福島宏明，田中基康，亀川哲志，松野文俊：ねじ推進ヘビ型ロボットの先頭追従制御，日本ロボット学会誌，vol.28, no.6, pp.707-714, 2010.
4) 田中基康，松野文俊：３次元ヘビ型ロボットの冗長性を利用した制御，計測自動制御学会論文集，vol.44, no.12, pp.970-978, 2008.
3) 田中基康，松野文俊：平面を移動する三次元ヘビ型ロボットの協調制御，日本ロボット学会誌，vol.26, no.6, pp.493-501, 2008.
2) 佐藤博毅，田中基康，松野文俊：動力学モデルに基づく蛇型ロボットの軌道追従制御，計測自動制御学会論文集，vol.42, no.6, pp.651-658, 2006.
1) 田中基康，吉川雅人，松野文俊：２台のヘビ型ロボットの協調制御，日本ロボット学会誌，vol.24, no.3, pp.400-407, 2005.