Granular lift forces predict vertical motion of a sand-swimming robot. - Ryan D. Maladen; Paul Umbanhowar; Yang Ding; Andrew Masse; Daniel I. Goldman (ICRA, 2011)

Mechanics of Undulatory Swimming in a Frictional Fluid. - Yang Ding; Sarah S. Sharpe; Andrew Masse; Daniel I. Goldman (PLoS Comput. Biol., 2012)

Towards a terramechanics for bio-inspired locomotion in granular environments. - Chen Li 017; Yang Ding; Nick Gravish; Ryan D. Maladen; Andrew Masse; Paul B. Umbanhowar; Haldun Komsuoglu; Daniel E. Koditschek; Daniel I. Goldman (CoRR, 2019)