A new self-reconfigurable modular robotic system UBot: Multi-mode locomotion and self-reconfiguration. - Jie Zhao 003; Xindan Cui; Yanhe Zhu; Shufeng Tang (ICRA, 2011)

UBot: a new reconfigurable modular robotic system with multimode locomotion ability. - Jie Zhao 003; Xindan Cui; Yanhe Zhu; Shufeng Tang (Ind. Robot, 2012)

Bio-inspired Locomotion Control for UBot Self-reconfigurable Modular Robot. - Xindan Cui; Yanhe Zhu; Jie Zhao 003; Songhao Piao; Erfu Yang (ICCAD, 2023)