1. Robine R. Murphy, Rescue Robots at WTC, Trans. Shinobu Makita, Journal of the Japan Society of Mechanical Engineers, Oct, 2003, pp.794–802
2. Toshi Takamori et al., Development of UMRS(Utility Mobile Robot for Search) and Serching System for Sufferers with Cellphone, proc. of SSRR, pp.47–52, 2003
3. Koichi Osuka, Search in Narrow Space by Snake-Like Robots, Journal of the Robotic Society of Japan, Vol.22, No.5, pp.554–557
4. Uluc Saranli et al., RHex: A Simple and Highly Mobile Hexapod Robot, IJRR, Vol. 20, No.7, 2001, pp.616–631
5. Jorge G. Cham et al., Fast and Robust: Hexapedal Robots via Shape Deposition Manufacturing, IJRR, Vol.21, No.10–11, 2002, pp.869–882