Masataka Suzuki Shinya Kitai Shigeo Hirose Advanced child unit of "Anchor Climber" using modified internally-balanced magnet. 1489-1494 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650777 conf/iros/2008 db/conf/iros/iros2008.html#SuzukiKH08