A system for speed and torque control of DC motors with application to small snake robots. Kapoor, A.; Simaan, N.; and Kazanzides, P. In IEEE/APS Intl. Conf. on Mechatronics and Robotics, Aachen, Germany, Sep, 2004.
bibtex   
@inproceedings{Kapoor2004,
  author = {Ankur Kapoor and Nabil Simaan and Peter Kazanzides},
  title = {A system for speed and torque control of {DC} motors with application
            to small snake robots},
  booktitle = {IEEE/APS Intl. Conf. on Mechatronics and Robotics},
  address = {Aachen, Germany},
  month = {Sep},
  year = {2004}
}
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