Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot. - Cristian C. Phipps; Mark A. Minor (CLAWAR, 2005)

Quasi-static rolling control of the rolling disk biped robot. - Cristian C. Phipps; Mark A. Minor (ICRA, 2008)

Graph search joint path planning for robot center of gravity positioning. - Cristian C. Phipps; David Johnson 004; Mark A. Minor (IROS, 2008)

Design and Quasi-Static Locomotion Analysis of the Rolling Disk Biped Hybrid Robot. - Cristian C. Phipps; Benjamin E. Shores; Mark A. Minor (IEEE Trans. Robotics, 2008)