A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot. - Hongqiang Wang 003; E. Farrell Helbling; Noah T. Jafferis; Raphael Zufferey; Aaron C. Ong; Kevin Y. Ma; Nicholas G. Gravish; Pakpong Chirarattananon; Mirko Kovac; Robert J. Wood (Sci. Robotics, 2017)

Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot. - Benjamin Goldberg 003; Raphael Zufferey; Neel Doshi; Elizabeth Farrell Helbling; Griffin Whittredge; Mirko Kovac; Robert J. Wood (IEEE Robotics Autom. Lett., 2018)

SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot. - Raphael Zufferey; Alejandro Ortega Ancel; Célia Raposo; Sophie Franziska Armanini; André Farinha 001; Robert Siddall; Ion Berasaluce; Haijun Zhu; Mirko Kovac (IEEE Robotics Autom. Lett., 2019)

Consecutive aquatic jump-gliding with water-reactive fuel. - Raphael Zufferey; Alejandro Ortega Ancel; André Farinha 001; Robert Siddall; Sophie F. Armanini; M. Nasr; R. V. Brahmal; Grant Kennedy; Mirko Kovac (Sci. Robotics, 2019)

MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition. - Diego Debruyn; Raphael Zufferey; Sophie F. Armanini; Crystal E. Winston; André Farinha 001; Yufei Jin; Mirko Kovac (IEEE Robotics Autom. Lett., 2020)

Unmanned Aerial Sensor Placement for Cluttered Environments. - André Farinha 001; Raphael Zufferey; Peter Zheng; Sophie F. Armanini; Mirko Kovac (IEEE Robotics Autom. Lett., 2020)

Design and comparison of tails for bird-scale flapping-wing robots. - María del Mar Guzmán; C. Ruiz Páez; Francisco Javier Maldonado; Raphael Zufferey; Jesus Tormo-Barbero; José Ángel Acosta; Aníbal Ollero (IROS, 2021)

Challenges in Control and Autonomy of Unmanned Aerial-Aquatic Vehicles. - André Farinha 001; Julien di Tria; Raphael Zufferey; Sophie F. Armanini; Mirko Kovac (MED, 2021)

Design of the High-Payload Flapping Wing Robot E-Flap. - Raphael Zufferey; Jesus Tormo-Barbero; María del Mar Guzmán; Fco. Javier Maldonado; Ernesto Sanchez-Laulhe; Pedro Grau; Martín Pérez; José Ángel Acosta; Aníbal Ollero (IEEE Robotics Autom. Lett., 2021)

How ornithopters can perch autonomously on a branch. - Raphael Zufferey; Jesus Tormo-Barbero; Daniel Feliú Talegon; Saeed Rafee Nekoo; José Ángel Acosta; Aníbal Ollero (CoRR, 2022)

The Natural Robotics Contest: Crowdsourced Biomimetic Design. - Robert Siddall; Raphael Zufferey; Sophie F. Armanini; Ketao Zhang; Sina Sareh; Elisavetha Sergeev (CoRR, 2022)

Experimental method for perching flapping-wing aerial robots. - Raphael Zufferey; Daniel Feliú Talegon; Saeed Rafee Nekoo; José Ángel Acosta; Aníbal Ollero (CoRR, 2023)

Use of Superhydrophobic Surfaces for Performance Enhancement of Aerial-Aquatic Vehicles. - Daniel Gortat; Alejandro Ortega Ancel; André Farinha 001; Raphael Zufferey; Mirko Kovac (Adv. Intell. Syst., 2023)

Miniature multihole airflow sensor for lightweight aircraft over wide speed and angular range. - Lukas Stuber; Simon Luis Jeger; Raphael Zufferey; Dario Floreano (Zenodo, 2024)

Miniature multihole airflow sensor for lightweight aircraft over wide speed and angular range. - Lukas Stuber; Simon L. Jeger; Raphael Zufferey; Dario Floreano (CoRR, 2025)