A preliminary design theory for polyphase impellers in unbounded flow / by B. Yim.

A physical implementation of the self-reconfiguring crystalline robot

“…Several specialized modules and ways of composing them were proposed. In [21] Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in different ways. This work also presents extensive examples of locomotion and self-reconfiguration in simulation.…”