A tether-less Legged Piezoelectric Miniature Robot using bounding gait locomotion for bidirectional motion. - Hassan H. Hariri; Leonardus A. Prasetya; Shaohui Foong; Gim Song Soh; Kevin N. Otto; Kristin L. Wood (ICRA, 2016)

Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator. - Audelia Gumarus Dharmawan; Hassan H. Hariri; Shaohui Foong; Gim Song Soh; Kristin L. Wood (ICRA, 2017)

Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-Directional Motion. - Hassan H. Hariri; Gim Song Soh; Shaohui Foong; Kristin L. Wood (IEEE Trans. Robotics, 2017)

ORION-II: A Miniature Climbing Robot with Bilayer Compliant Tape for Autonomous Intelligent Surveillance and Reconnaissance. - Hassan H. Hariri; Darren C. Y. Koh; Hoong Ching Lim; Audelia Gumarus Dharmawan; Van Duong Nguyen; Gim Song Soh; Shaohui Foong; Roland Bouffanais; Hong Yee Low; Kristin L. Wood (ICARCV, 2018)

Design and Analysis of A Miniature Two-Wheg Climbing Robot with Robust Internal and External Transitioning Capabilities. - Darren C. Y. Koh; Audelia Gumarus Dharmawan; Hassan H. Hariri; Gim Song Soh; Shaohui Foong; Roland Bouffanais; Hong Yee Low; Kristin L. Wood (ICRA, 2019)