An Innovative Locomotion Principle for Minirobots Moving in the Gastrointestinal Tract. - Louis Phee; Arianna Menciassi; Samuele Gorini; G. Pernorio; Alberto Arena; Paolo Dario (ICRA, 2002)

A SMA Actuated Artificial Earthworm. - Arianna Menciassi; Samuele Gorini; G. Pernorio; Paolo Dario (ICRA, 2004)

Design, Fabrication and Performances of a Biomimetic Robotic Earthworm. - Arianna Menciassi; Samuele Gorini; G. Pernorio; Weiting Liu; F. Valvo; Paolo Dario (ROBIO, 2004)

Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract Problem Analysis and Preliminary Technological Activity. - Arianna Menciassi; Samuele Gorini; Andrea Moglia; G. Pernorio; Cesare Stefanini; Paolo Dario (ICRA, 2005)

Development of a legged capsule for the gastrointestinal tract: an experimental set-up. - Marco Quirini; Arianna Menciassi; Cesare Stefanini; Samuele Gorini; Giuseppe Pernorio; Paolo Dario (ROBIO, 2005)