Hitoshi Miyanaka Norihiko Wada Tetsushi Kamegawa Noritaka Sato Shingo Tsukui Hiroki Igarashi Fumitoshi Matsuno Development of an unit type robot "KOHGA2" with stuck avoidance ability. 3877-3882 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364073 db/conf/icra/icra2007.html#MiyanakaWKSTIM07