A. M. Kohl, Kristin Ytterstad Pettersen, Eleni Kelasidi, Jan Tommy Gravdahl. Analysis of underwater snake robot locomotion based on a control-oriented model. In 2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015, Zhuhai, China, December 6-9, 2015. pages 1930-1937, IEEE, 2015. [doi]