Development of Underwater Drilling Robot Based on Earthworm Locomotion. - Keita Isaka; Kazuki Tsumura; Tomoki Watanabe; Wataru Toyama; Makoto Sugesawa; Yasuyuki Yamada; Hiroshi Yoshida; Taro Nakamura 001 (IEEE Access, 2019)

Effect of penetration force on drilling efficiency for seabed drilling robot. - Wataru Toyama; Keita Isaka; Kazuki Tsumura; Tomoki Watanabe; Manabu Okui; Hiroshi Yoshida; Taro Nakamura 001 (AIM, 2020)

Clay Drilling Performance of Seabed Robotic Explorer Using Peristaltic Motion. - Keita Isaka; Kazuki Tsumura; Tomoki Watanabe; Wataru Toyama; Manabu Okui; Hiroshi Yoshida; Taro Nakamura 001 (SII, 2020)

Soil Discharging Mechanism Utilizing Water Jetting to Improve Excavation Depth for Seabed Drilling Explorer. - Keita Isaka; Kazuki Tsumura; Tomoki Watanabe; Wataru Toyama; Manabu Okui; Hiroshi Yoshida; Taro Nakamura 001 (IEEE Access, 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)

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)