| Apparatus and method to determine ground properties by traction anchors and sensors DB Trobat, V Nannen, GR Camps US Patent 9,945,832, 2018 | 8 | 2018 |
| Autonomous self-actuated tillage implement DB Trobat US Patent 9,144,188, 2015 | 8 | 2015 |
| UTOPUS Traction Technology: A new method for planetary exploration of steep and difficult terrain V Nannen, D Bover, D Zöbel, F Parma, K Marascio, BM McKenzie Engineering Archive, 2016 | 6 | 2016 |
| A novel traction mechanism based on retractable crampons to minimize soil compaction and reduce energy consumption V Nannen, D Bover, D Zöbel Engineering Archive, 2020 | 5 | 2020 |
| UTOPUS: A Novel Traction Mechanism to Minimize Soil Compaction and Reduce Energy Consumption V Nannen, D Bover, D Zöbel, BM McKenzie, MB Avraham Engineering Archive, 2020 | 4 | 2020 |
| Interlocking spikes for extreme mobility V Nannen, D Bover Earth and Space 2021, 521-530, 2021 | 3 | 2021 |
| Reliability and efficiency of tractive force generation by the interlock drive system V Nannen, D Bover, D Reiser, D Zöbel Engineering Archive, 2020 | 3 | 2020 |
| Motion Study of Spike Entering the Soil of the Interlock Drive System V Nannen, D Bover, D Reiser, D Zöbel Engineering Archive, 2020 | 1 | 2020 |
| Lateral Stability of Vehicle with Interlocking Spikes V Nannen, D Bover Earth and Space 2022, 332-342, 2022 | | 2022 |
| Traction of Interlocking Spikes on a Granular Material V Nannen, D Bover Earth and Space 2022, 95-105, 2022 | | 2022 |
| Integrated Sensing and Earthmoving Vehicle for Lunar Landing Pad Construction V Nannen, D Bover, D Zöbel Earth and Space 2021, 511-520, 2019 | | 2019 |
| Technical Background to the Autonomous Self-Actuated Tillage Implement V Nannen, D Bover | | |
