3DFlex: A rapid prototyping approach for multi-material compliant mechanisms in millirobots. - Ryan St. Pierre; Noah Paul; Sarah Bergbreiter (ICRA, 2017)

Design of a Minimalistic Torque Actuated Variable Rolling SLIP Leg for Robust Locomotion. - Noah Paul; Adar Gaathon; Amir Degani (CLAWAR, 2022)