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 Botelho, Wagner Tanaka et al. Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes. Sba Controle & Automação, Feb 2011, vol.22, no.1, p.9-22. ISSN 0103-1759

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 Rosa, Paulo Fernando F. and Okada, Tokuji An Active Sensing-based Control Algorithm for the Scrollic Gripper. J. Braz. Comp. Soc., Apr 1998, vol.4, no.3. ISSN 0104-6500
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