Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR. - Erik Maehle; Werner Brockmann; Karl-Erwin Grosspietsch; Adam El Sayed Auf; Bojan Jakimovski; Stephan Krannich; Marek Litza; Raphael Maas; Ahmad Al-Homsy (Organic Computing, 2011)

Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback. - Ahmad Al-Homsy; Jan Hartmann; Erik Maehle (ROSE, 2012)

Biological inspired approaches for hexapod walking robots on organic computing principles and proprioception feedback. - Ahmad Al-Homsy (2016)