An earthworm-like locomotive mechanism for capsule endoscopes. - Byungkyu Kim; Sukho Park; Chang Yeol Jee; Seok-Jin Yoon (IROS, 2005)

Capsular Locomotive Microrobot for Gastrointestinal Tract. - Sukho Park; Hyunjun Park; Sungjin Park; Chang Yeol Jee; Jinseok Kim; Byungkyu Kim (EMBC, 2006)