Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. - Anxing Xiao; Wenzhe Tong; Lizhi Yang; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (ICRA, 2021)

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. - Xihang Yu; Sangli Teng; Theodor Chakhachiro; Wenzhe Tong; Tingjun Li; Tzu-Yuan Lin; Sarah Koehler; Manuel Ahumada; Jeffrey M. Walls; Maani Ghaffari (IROS, 2023)

Proprioceptive Invariant Robot State Estimation. - Tzu-Yuan Lin; Tingjun Li; Wenzhe Tong; Maani Ghaffari (CoRR, 2023)

Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints. - Wenzhe Tong; Tzu-Yuan Lin; Jonathan Mi; Yicheng Jiang; Maani Ghaffari; Xiaonan Huang (IEEE Robotics Autom. Lett., 2025)

Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot. - Jonathan Mi; Wenzhe Tong; Yilin Ma; Xiaonan Huang (IEEE Robotics Autom. Lett., 2025)