A cuboctahedron module for a reconfigurable robot. - Shuguang Li; Jianping Yuan; Franz Nigl; Hod Lipson (IROS, 2010)

Structure-Reconfiguring Robots: Autonomous Truss Reconfiguration and Manipulation. - Franz Nigl; Shuguang Li; Jeremy Blum; Hod Lipson (IEEE Robotics Autom. Mag., 2013)