Design and forward kinematic analysis of a robotic snake. - G. Migadis; Kostas J. Kyriakopoulos (ICRA, 1997)

The NTUA snake: Design, planar kinematics, and motion planning. - Kostas J. Kyriakopoulos; G. Migadis; K. Sarrigeorgidis (J. Field Robotics, 1999)