Improved Traction for a Mobile Robot Traveling on the Heart. - Nicholas A. Patronik; Takeyoshi Ota; Marco A. Zenati; Cameron N. Riviere (EMBC, 2006)

A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart. - Nicholas A. Patronik; Takeyoshi Ota; Marco A. Zenati; Cameron N. Riviere (IEEE Trans. Robotics, 2009)