title = {A Case Study in System-Level Physics-Based Simulation of a Biomimetic Robot},
  journal = {Automation Science and Engineering, IEEE Transactions on},
  volume = {8},
  number = {3},
  year = {2011},
  month = jul,
  pages = {664 {\textendash}671},
  keywords = {biomimetic robot, biomimetics, CAD, closed-form equation, computer-aided design, contact, control engineering computing, Drexel snake robot, friction, legged locomotion, mechanical contact, mobility patterns, nonobvious secondary phenomena, path planning, rectilinear motion, robot dynamics, robot kinematics, robotic systems, slippage, snake-inspired robot, system-level physics-based simulation, test control algorithms, virtual models, virtual reality},
  author = {Primerano, Richard A. and Wilkie, D. and Regli, William}