title = {Crawling and rolling gaits for a coupled-mobility snake robot},
  booktitle = {Advanced Robotics (ICAR), 2011 15th International Conference on},
  year = {2011},
  month = jun,
  pages = {556-562},
  keywords = {3D motion planning framework, 3D spline curve, coupled-mobility snake robot, crawling gaits, Equations, flexible body structure, interpolation, interpolation points, Joints, kinematic structure, Kinematics, mobile robots, path planning, robot kinematics, rolling gaits, Shape, splines (mathematics)},
  doi = {10.1109/ICAR.2011.6088603},
  author = {Ford, G. and Primerano, Richard A. and Kam, Moshe}