Shuhei Miyashita Flurin Casanova Max Lungarella Rolf Pfeifer Tribolon: Water based self-assembly robot with freezing connector (video). 4147-4148 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4651233 conf/iros/2008 db/conf/iros/iros2008.html#MiyashitaCLP08a