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Aksel Andreas Transeth, Kristin Ytterstad Pettersen, Pål Liljebäck. A survey on snake robot modeling and locomotion. Robotica, 27(7):999-1015, 2009. [doi]

The following publications are possibly variants of this publication:

Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and ExperimentsAksel Andreas Transeth, Remco I. Leine, Christoph Glocker, Kristin Ytterstad Pettersen, Pål Liljebäck. trob, 24(1):88-104, 2008. [doi]

Developments in Snake Robot Modeling and LocomotionAksel Andreas Transeth, Kristin Ytterstad Pettersen. icarcv 2006: 1-8 [doi]

Analysis of underwater snake robot locomotion based on a control-oriented modelA. M. Kohl, Kristin Ytterstad Pettersen, Eleni Kelasidi, Jan Tommy Gravdahl. robio 2015: 1930-1937 [doi]

A hybrid model of obstacle-aided snake robot locomotionPål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl. icra 2010: 675-682 [doi]

A simplified model of planar snake robot locomotionPål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl. iros 2010: 2868-2875 [doi]

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