A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots. - Alberto Brunete; Ernesto Gambao; Jose Emilio Torres; Miguel Hernando 001 (IROS, 2006)

Multi-drive control for in-pipe snakelike heterogeneous modular micro-robots. - Alberto Brunete; Jose Emilio Torres; Miguel Hernando 001; Ernesto Gambao (ROBIO, 2007)

A Proposal for a Multi-Drive Heterogeneous Modular Pipe-Inspection Micro-Robot. - Alberto Brunete; Jose Emilio Torres; Miguel Hernando 001; Ernesto Gambao (Int. J. Inf. Acquis., 2008)

MDL: A module description language for chained heterogeneous modular robots. - Alberto Brunete; Miguel Hernando 001; Ernesto Gambao; Jose Emilio Torres; A. Castro-Gonzalez (ROBIO, 2011)

A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots. - Alberto Brunete; Miguel Hernando 001; Ernesto Gambao; Jose Emilio Torres (Robotics Auton. Syst., 2012)