Haruhisa Kurokawa, Akiya Kamimura, Eiichi Yoshida, Kohji Tomita, Satoshi Murata, Shigeru Kokaji. Self-reconfigurable modular robot (M-TRAN) and its motion design. In Seventh International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, Singapore, 2-5 December 2002, Proceedings. pages 51-56, IEEE, 2002. [doi]