Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR). - Zhirui Wang; Yezhuo Li; Bo Su; Lei Jiang 019; Ziming Zhao 005; Yan-An Yao (Ind. Robot, 2021)

Envelop-Climbing Locomotion Planning and Capability Analysis of a Deformable Tetrahedron Rolling Robot. - Ziming Zhao 005; Yezhuo Li; Jianxu Wu; Yan-an Yao (IEEE Robotics Autom. Lett., 2023)