J. F. . Flores, H. A. . Moreno, . I. . G. . Carrera, and J. L. . Ordoñez-Avila, “Design and Computational Modeling of a Leg-Wheel Transformable Mechanism with Decoupled Kinematics”, IEEE LAT AM T, vol. 23, no. 12, pp. 1219–1229, Nov. 2025.