Parameterized and Scripted Gaits for Modular Snake Robots - Tesch, Matthew; Lipkin, Kevin; Brown, Isaac; Hatton, Ross; Peck, Aaron; Rembisz, Justine; Choset, Howie (Advanced robotics, 2009)
Keywords: GAIT DESIGN; HYPER-REDUNDANT MECHANISM; LOCOMOTION; MOTION PLANNING; SNAKE ROBOT