Multi-segment continuum robot shape estimation using passive cable displacement. - William S. Rone; Pinhas Ben-Tzvi (ROSE, 2013)

Mapping, localization and motion planning in mobile multi-robotic systems. - William S. Rone; Pinhas Ben-Tzvi (Robotica, 2013)

Continuum Robot Dynamics Utilizing the Principle of Virtual Power. - William S. Rone; Pinhas Ben-Tzvi (IEEE Trans. Robotics, 2014)

Maneuvering and stabilizing control of a quadrupedal robot using a serpentine robotic tail. - William S. Rone; Pinhas Ben-Tzvi (CCTA, 2017)

Discrete modular serpentine robotic tail: design, analysis and experimentation. - Wael Saab; William S. Rone; Pinhas Ben-Tzvi (Robotica, 2018)

Robotic tails: a state-of-the-art review. - Wael Saab; William S. Rone; Pinhas Ben-Tzvi (Robotica, 2018)