An underground explorer robot based on peristaltic crawling of earthworms. - Hayato Omori; Taro Nakamura 001; Takayuki Yada (Ind. Robot, 2009)

Excavation Mechanism for a Planetary Underground Explorer Robot. - Hayato Omori; Taro Nakamura 001; Takayuki Yada; Taro Murakami; Hiroaki Nagai; Takashi Kubota (ISR/ROBOTIK, 2010)