Efficient distance calculation using the spherically-extended polytope (S-tope) model. - Gregory J. Hamlin; Robert B. Kelley; Josep Tornero (ICRA, 1992)

A Novel Concentric Multilink Spherical Joint with Parallel Robotics Applications. - Gregory J. Hamlin; Arthur C. Sanderson (ICRA, 1994)

Tetrabot: A Modular System for Hyper-Redundant Parallel Robotics. - Gregory J. Hamlin; Arthur C. Sanderson (ICRA, 1995)

TETROBOT modular robotics: prototype and experiments. - Gregory J. Hamlin; Arthur C. Sanderson (IROS, 1996)

TETROBOT: a modular approach to parallel robotics. - Gregory J. Hamlin; Arthur C. Sanderson (IEEE Robotics Autom. Mag., 1997)