1. The development of an in-pipe microrobot applying the motion of an earthworm;Takahashi,1994
2. Microrobot actuated by soft actuators based on dielectric elastomer;Choi,2002
3. Hyper redundant robot manipulators actuated by optimized binary dielectric polymers;Wingert,2002
4. Design, fabrication and performances of a biomimetic robotic earthworm;Menciassi,2004
5. Polychaete-like undulatory robotic locomotion;Tsakiris,2005