Electromechanical design for an electrically powered, actively balanced one leg planar robot. - Vassilios K. Papantoniou (IROS, 1991)

Wheel+legs-a new solution for traction enhancement without additive soil compaction. - Mario Maza; Jean-Guy Fontaine; Pablo González de Santos; Vassilios K. Papantoniou; Maria Mas (IEEE Robotics Autom. Mag., 1997)