Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion. - Taro Nakamura 001; Takashi Kato; Tomohide Iwanaga; Yoichi Muranaka (J. Robotics Mechatronics, 2006)

Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space. - Taro Nakamura 001; Tomohide Iwanaga (ICRA, 2008)