Anisotropic collapsible leg spines for increased millirobot traction. - Jessica S. Lee; Ronald S. Fearing (ICRA, 2015)

Self-Engaging Spined Gripper with Dynamic Penetration and Release for Steep Jumps. - Jessica S. Lee; Mark M. Plecnik; Je-Han Yang; Ronald S. Fearing (ICRA, 2018)