A geometrical approach to the trajectory planning of a snake-like mechanism. - Zeki Yagiz Bayraktaroglu; Fabienne Butel; Pierre Blazevic; Viviane Pasqui (IROS, 1999)

Snake-like locomotion: integration of geometry and kineto-statics. - Zeki Yagiz Bayraktaroglu; Fabienne Butel; Viviane Pasqui; Pierre Blazevic (Adv. Robotics, 2000)