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)

Excavation Experiment of Earth Worm Type Seabed Exploration Robot in Actual Sea Area. - Manabu Okui; Ryosuke Tokoi; Wataru Toyama; Kazuki Tsumura; Keita Isaka; Tomoki Watanabe; Taro Nakamura 001; Hiroshi Yoshida (CLAWAR, 2021)

Horizontal Drilling with Seabed Robotic Explorer. - Ryosuke Tokoi; Wataru Toyama; Kazuki Tsumura; Tomoki Watanabe; Manabu Okui; Taro Nakamura 001; Hiroshi Yoshida (CLAWAR, 2021)

Grasping Characteristics of Flexible Propulsion Unit Using Braid Mechanism for Lunar Exploration Robot. - Chikage Fujikawa; Ryosuke Tokoi; Wataru Toyama; Manabu Okui; Tomoaki Tsuji; Taro Nakamura 001; Takashi Kubota (CLAWAR, 2022)

Ice-drilling and Gripping Experiments in Actual Conditions for Developing Earthworm-type Ice-drilling Robot for Extensive Under-sea-ice Surveys. - Ryosuke Tokoi; Chikage Fujikawa; Wataru Toyama; Manabu Okui; Hiroshi Yoshida; Taro Nakamura 001 (IECON, 2022)

Components and Basic Evaluation of Earthworm-Type Ice-Drilling Robot for Exploration Under Arctic-Sea-Ice. - Yuka Takeda; Ryosuke Tokoi; Chikage Fujikawa; Manabu Okui; Hiroshi Yoshida; Taro Nakamura 001 (IECON, 2023)