Hirozumi Takeshima

Six-braided tube in-pipe locomotive device

Toshio Takayama, Hirozumi Takeshima, 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Geometric Estimation of the Deformation and the Design Method for Developing Helical Bundled-Tube Locomotive Devices

Toshio Takayama, Hirozumi Takeshima, T. Takayama, 2017, IEEE/ASME Transactions on Mechatronics.

2A2-N04 Improvement of the bending performance of the bundled-tube locomotive device using wave-shaped tubes(Mechanism and Control for Actuator (2))

Toru Omata, Toshio Takayama, Hirozumi Takeshima, 2014 .

A Twisted Bundled Tube Locomotive Device Proposed for In-Pipe Mobile Robot

Toru Omata, Toshio Takayama, Tomoyuki Hori, 2015, IEEE/ASME Transactions on Mechatronics.

Development of a steerable in-pipe locomotive device with six braided tubes

Toshio Takayama, Hirozumi Takeshima, 2018 .

Extruded Helical Bundled-tube in-Pipe Locomotive Device

Toshio Takayama, Hirozumi Takeshima, Kazuhito Todoki, 2016 .