Standing on the Water: Stability Mechanisms of Snakes on Free Surface. - Johann Herault; Étienne Clement; Jonathan Brossillon; Seth LaGrange; Vincent Lebastard; Frédéric Boyer (Living Machines, 2020)

Quasi-static motion of a new serial snake-like robot on a water surface: a geometrical approach. - Xiao Xie; Johann Herault; Étienne Clement; Vincent Lebastard; Frédéric Boyer (IROS, 2021)

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing. - Robin Thandiackal; Kamilo Melo; Laura Paez; Johann Herault; Takeshi Kano; Kyoichi Akiyama; Frédéric Boyer; Dimitri Ryczko; Akio Ishiguro; Auke Jan Ijspeert (Sci. Robotics, 2021)

Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure. - Xiao Xie; Johann Herault; Vincent Lebastard; Frédéric Boyer (ARSO, 2023)