The following publications are possibly variants of this publication:
- Kinematics and statics of robotic catapults based on the closed elasticaAtsushi Yamada, Hiromi Mochiyama, Hideo Fujimoto. iros 2007: 3993-3998 [doi]
- An asymmetric robotic catapult based on the closed elastica for jumping robotAtsushi Yamada, Masamitsu Watari, Hiromi Mochiyama, Hideo Fujimoto. icra 2008: 232-237 [doi]
- An impulsive force generator based on closed elastica with bending and distortion and its application to swimming tasksAtsushi Yamada, Yukio Sugimoto, Hiromi Mochiyama, Hideo Fujimoto. icra 2011: 957-962 [doi]
- A robotic catapult based on the closed elastica with a high stiffness endpoint and its application to swimming tasksAtsushi Yamada, Masamitsu Watari, Hiromi Mochiyama, Hideo Fujimoto. iros 2008: 1477-1482 [doi]