A 2D unknown contour recovery method immune to system non-linear effects. - Sergi Hernandez Juan; Josep M. Mirats Tur (ROBIO, 2006)

Dynamic equations of motion for a 3-bar tensegrity based mobile robot. - Josep M. Mirats Tur; Sergi Hernandez Juan; Albert Graells Rovira (ETFA, 2007)

A method to generate stable, collision free configurations for tensegrity based robots. - Sergi Hernandez Juan; Josep M. Mirats Tur (IROS, 2008)