1. A novel propeller-type climbing robot for vessels inspection,2015
2. Versatile climbing robot for vessels inspection,2015
3. Designing compliant spine mechanisms for climbing;Journal of Mechanisms and Robotics,2012
4. Beardsley, P. (2015), “VertiGo a wall-climbing robot including ground-wall transition”, available at: www.disneyresearch.com/publication/vertigo/ (accessed 29 December 2015).
5. A six-legged climbing robot for high payloads,1998