An anthropomorphic robot torso for imitation: design and experiments. - Manuel Lopes 001; Ricardo Beira; Miguel Praça; José Santos-Victor (IROS, 2004)

Design of the Robot-cub (iCub) Head. - Ricardo Beira; Manuel Lopes 001; Miguel Praça; José Santos-Victor; Alexandre Bernardino; Giorgio Metta; Francesco Becchi; Roque J. Saltarén (ICRA, 2006)

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. - Nikolaos G. Tsagarakis; Giorgio Metta; Giulio Sandini; David Vernon; Ricardo Beira; Francesco Becchi; Ludovic Righetti; José Santos-Victor; Auke Jan Ijspeert; Maria Chiara Carrozza; Darwin G. Caldwell (Adv. Robotics, 2007)

Vizzy: A Humanoid on Wheels for Assistive Robotics. - Plinio Moreno; Ricardo Rodrigues Nunes; Rui Pimentel de Figueiredo; Ricardo Ferreira 002; Alexandre Bernardino; José Santos-Victor; Ricardo Beira; Luís Vargas; Duarte Aragão; Miguel Aragão (ROBOT (1), 2015)