Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment. - Frederic Rochat; Patrick Schoeneich; Barthelemy Lüthi; Hannes Bleuler; Roland Moser; Francesco Mondada (Ind. Robot, 2011)

TRIPILLAR: a miniature magnetic caterpillar climbing robot with plane transition ability. - Patrick Schoeneich; Frederic Rochat; Olivier Truong-Dat Nguyen; Roland Moser; Francesco Mondada (Robotica, 2011)