The following publications are possibly variants of this publication:
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- Snake robot obstacle-aided locomotion on inclined and vertical planes: Modeling, control strategies and simulationAksel Andreas Transeth, Sigurd Aksnes Fjerdingen, Pål Liljebäck. icmech 2013: 321-328 [doi]
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- Hybrid Modelling and Control of Obstacle-Aided Snake Robot LocomotionPål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl. trob, 26(5):781-799, 2010. [doi]