Dynamics and control of space robot brachiating motion using handrails. - Hirotaka Sawada; Saburo Matunaga (IROS, 2003)

Development of a curving excavation method for a lunar-subsurface explorer using a peristaltic crawling mechanism. - Toyoharu Nakatake; A. Fujiwara; Masashi Konno; Mamoru Nagai; Naoaki Tadami; Yasuyuki Yamada; Taro Nakamura 001; Hirotaka Sawada; Takashi Kubota (AIM, 2017)

Blade-type crawler vehicle with gyro wheel for stably traversing uneven terrain at high speed. - Yasuyuki Yamada; Hirotaka Sawada; Takashi Kubota; Taro Nakamura 001 (ICRA, 2017)

Curved excavation by a sub-seafloor excavation robot. - Naoaki Tadami; Mamoru Nagai; Toyoharu Nakatake; A. Fujiwara; Yasuyuki Yamada; Taro Nakamura 001; Hiroshi Yoshida; Hirotaka Sawada; Takashi Kubota (IROS, 2017)

Development of Both-Ends Supported Flexible Auger for Lunar Earthworm-Type Excavation Robot LEAVO. - Ami Fujiwara; Toyoharu Nakatake; Naoaki Tadami; Keita Isaka; Yasuyuki Yamada; Hirotaka Sawada; Taro Nakamura 001; Takashi Kubota (AIM, 2018)

Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain. - Kenji Nagaoka; Hayato Minote; Kyohei Maruya; Yuki Shirai; Kazuya Yoshida; Takeshi Hakamada; Hirotaka Sawada; Takashi Kubota (IEEE Robotics Autom. Lett., 2018)

Subsurface Sampling Robot for Time-limited Asteroid Exploration. - Hiroki Kato; Yasutaka Satou; Kent Yoshikawa; Masatsugu Otsuki; Hirotaka Sawada; Takeshi Kuratomi; Nana Hidaka (IROS, 2020)

Propulsion Unit Control Method for Visualization of Grasping State of Earthworm-type Lunar Excavation Robot. - Ryosuke Tokoi; Wataru Toyama; Tomoki Watanabe; Kazuki Tsumura; Manabu Okui; Hirotaka Sawada; Takashi Kubota; Taro Nakamura 001 (AIM, 2021)

Mobility Performance Characterization of Transformable Nano Rover for Lunar Exploration. - Masataku Sutoh; Daichi Hirano; Mariko Inazawa; Yuta Kawai; Hirotaka Sawada (IROS, 2024)

Transformable Nano Rover for Space Exploration. - Daichi Hirano; Mariko Inazawa; Masataku Sutoh; Hirotaka Sawada; Yuta Kawai; Masaharu Nagata; Gen Sakoda; Yousuke Yoneda; Kimitaka Watanabe (IEEE Robotics Autom. Lett., 2024)