Design of a Modular Snake Robot. Wright, C. G., Johnson, A. M., Peck, A., McCord, Z., Naaktgeboren, A., Gianfortoni, P., Gonzalez-Rivero, M., Hatton, R., & Choset, H. In IEEE/RSJ Intl.\ Conference on Intelligent Robots and Systems, pages 2609–2614, San Diego, CA, October, 2007.
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