Ball-Shaped Robots: An Historical Overview and Recent Developments at TKK. - Jussi Suomela; Tomi Ylikorpi (FSR, 2005)

A Novel Marsupial Robot Society: Towards Long-Term Autonomy. - Marek Matusiak; Janne Paanajärvi; Pekka Appelqvist; Mikko Elomaa; Mika Vainio; Tomi Ylikorpi; Aarne Halme (DARS, 2008)

Novel design of biped robot based on Linear Induction Motors. - Jose-Luis Peralta-Cabezas; Tomi Ylikorpi; Khurram Gulzar; Peter Jakubik; Aarne Halme (Humanoids, 2009)

Assessment of limit-cycle-based control on 2D kneed biped. - Jose-Luis Peralta-Cabezas; Tuomas Haarnoja; Tomi Ylikorpi; Aarne Halme (ICRA, 2011)

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots. - Tomi Ylikorpi; Pekka Forsman; Aarne Halme (ECMS, 2014)

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots. - Tomi Ylikorpi; Pekka Forsman; Aarne Halme; Jari Saarinen (ECMS, 2014)

Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots. - Tomi Ylikorpi; Aarne Halme; Pekka Forsman (Robotics Auton. Syst., 2017)