Propulsion Mechanism based on Inertial Force. - Tadao Kagiwada; Hiroyuki Harada; Hiroshi Yoshikawa (Robotics and Applications, 2003)

Development of an Earthworm Robot with a Shape Memory Alloy and Braided Tube. - Tomoyuki Saito; Tadao Kagiwada; Hiroyuki Harada (Adv. Robotics, 2009)