Differentiable and piecewise differentiable gaits for snake robots. - Kevin Lipkin; Isaac Brown; Aaron Peck; Howie Choset; Justine Rembisz; Philip Gianfortoni; Allison Naaktgeboren (IROS, 2007)

Parameterized and Scripted Gaits for Modular Snake Robots. - Matthew Tesch; Kevin Lipkin; Isaac Brown; Ross L. Hatton; Aaron Peck; Justine Rembisz; Howie Choset (Adv. Robotics, 2009)