Motion Control of the N.T.U.A. Robotic Snake on a Planar Surface. - K. Sarrigeorgidis; Kostas J. Kyriakopoulos (ICRA, 1998)

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