Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake. - Ming Luo 004; Zhenyu Wan; Yinan Sun; Erik H. Skorina; Weijia Tao; Fuchen Chen; Lakshay Gopalka; Hao Yang 011; Cagdas D. Onal (Frontiers Robotics AI, 2020)