@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}
}