Takahiro Tsubaki

Three-Dimensional Maneuverability of the Dolphin Robot (Roll Control and Loop-the-Loop Motion)

Motomu Nakashima, Yoshitaka Takahashi, Takahiro Tsubaki, 2004 .

Three-Dimensional Movement in Water of the Dolphin Robot - Control Between Two Positions by Roll and Pitch Combination -

Motomu Nakashima, Takahiro Tsubaki, Kyosuke Ono, 2006, J. Robotics Mechatronics.