Modeling and control of a cable driven modular snake robot. - Peter Racioppo; Pinhas Ben-Tzvi (CCTA, 2017)

A review of coupling mechanism designs for modular reconfigurable robots. - Wael Saab; Peter Racioppo; Pinhas Ben-Tzvi (Robotica, 2019)

Design of a miniature modular inchworm robot with an anisotropic friction skin. - Wael Saab; Peter Racioppo; Anil Kumar 007; Pinhas Ben-Tzvi (Robotica, 2019)