Reconfiguring a modular robot into a humanoid formation: A multi-body dynamic perspective on motion scheduling for modules and their assemblies. - Paul M. Moubarak; Eric J. Alvarez; Pinhas Ben-Tzvi (CASE, 2013)

An active coupling mechanism with three modes of operation for modular mobile robotics. - Paul M. Moubarak; Pinhas Ben-Tzvi; Zhou Ma; Eric J. Alvarez (ICRA, 2013)