Path following control of planar snake robots using virtual holonomic constraints. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ROBIO, 2013)

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model. - Ehsan Rezapour; Andreas Hofmann; Kristin Ytterstad Pettersen; Alireza Mohammadi 001; Manfredi Maggiore (CCA, 2014)

Body shape and orientation control for locomotion of biologically-inspired snake robots. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Pål Liljebäck (BioRob, 2014)

Direction following control of planar snake robots using virtual holonomic constraints. - Alireza Mohammadi 001; Ehsan Rezapour; Manfredi Maggiore; Kristin Ytterstad Pettersen (CDC, 2014)

Differential geometric modelling and robust path following control of snake robots using sliding mode techniques. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ICRA, 2014)

Maneuvering control of planar snake robots based on a simplified model. - Ehsan Rezapour; Andreas Hofmann; Kristin Ytterstad Pettersen (ROBIO, 2014)

Formation control of underactuated bio-inspired snake robots. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Andreas Hofmann (Artif. Life Robotics, 2016)

Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. - Alireza Mohammadi 001; Ehsan Rezapour; Manfredi Maggiore; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2016)