The OmniTread serpentine robot for industrial inspection and surveillance. - Grzegorz Granosik; Malik G. Hansen; Johann Borenstein (Ind. Robot, 2005)

The OmniTread OT-4 serpentine robot - design and performance. - Johann Borenstein; Malik Hansen; Adam Borrell (J. Field Robotics, 2007)

Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. - Nadia Cheng; Genya Ishigami; Stephan Hawthorne; Hao Chen; Malik Hansen; Maria J. Telleria; Robert Playter; Karl Iagnemma (ICRA, 2010)

Modeling and implementation of solder-activated joints for single-actuator, centimeter-scale robotic mechanisms. - Maria J. Telleria; Malik Hansen; Donald Campbell; Amelia Servi; Martin L. Culpepper (ICRA, 2010)