SnakeFighter - Development of a Water Hydraulic Fire Fighting Snake Robot. - Pål Liljebäck; Øyvind Stavdahl; Anders Beitnes (ICARCV, 2006)

Snake robot obstacle aided locomotion: An experimental validation of a non-smooth modeling approach. - Aksel Andreas Transeth; Pål Liljebäck; Kristin Ytterstad Pettersen (IROS, 2007)

Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments. - Aksel Andreas Transeth; Remco I. Leine; Christoph Glocker; Kristin Ytterstad Pettersen; Pål Liljebäck (IEEE Trans. Robotics, 2008)

A snake robot joint mechanism with a contact force measurement system. - Pål Liljebäck; Sigurd Aksnes Fjerdingen; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2009)

Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2009)

A snake-like robot for internal inspection of complex pipe structures (PIKo). - Sigurd Aksnes Fjerdingen; Pål Liljebäck; Aksel Andreas Transeth (IROS, 2009)

Controllability analysis of planar snake robots influenced by viscous ground friction. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2009)

Stability analysis of snake robot locomotion based on Poincaré maps. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2009)

A survey on snake robot modeling and locomotion. - Aksel Andreas Transeth; Kristin Ytterstad Pettersen; Pål Liljebäck (Robotica, 2009)

Stability analysis of snake robot locomotion based on averaging theory. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (CDC, 2010)

Experimental investigation of a path following controller for planar snake robots. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (ICARCV, 2010)

Experimental investigation of fundamental properties of snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICARCV, 2010)

A snake robot with a contact force measurement system for obstacle-aided locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2010)

A hybrid model of obstacle-aided snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2010)

A simplified model of planar snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2010)

Fundamental properties of snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2010)

Two new design concepts for snake robot locomotion in unstructured environments. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (Paladyn J. Behav. Robotics, 2010)

Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2010)

Waypoint guidance control of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen (ICRA, 2011)

Path following control of snake robots in unstructured environments. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2011)

Controllability and Stability Analysis of Planar Snake Robot Locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Autom. Control., 2011)

Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2011)

A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2012)

A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IROS, 2012)

A review on modelling, implementation, and control of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (Robotics Auton. Syst., 2012)

Path Following Control of Planar Snake Robots Using a Cascaded Approach. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2012)

Snake robot obstacle-aided locomotion on inclined and vertical planes: Modeling, control strategies and simulation. - Aksel Andreas Transeth; Sigurd Aksnes Fjerdingen; Pål Liljebäck (ICM, 2013)

Snake Robots - from Biology to Nonlinear Control. - Kristin Ytterstad Pettersen; Pål Liljebäck; Øyvind Stavdahl; Jan Tommy Gravdahl (NOLCOS, 2013)

Path following control of planar snake robots using virtual holonomic constraints. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ROBIO, 2013)

Lateral undulation of snake robots: a simplified model and fundamental properties. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (Robotica, 2013)

Integral line-of-sight for path following of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (CCA, 2014)

Body shape and orientation control for locomotion of biologically-inspired snake robots. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Pål Liljebäck (BioRob, 2014)

Modeling of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Pål Liljebäck (ICRA, 2014)

Compliant control of the body shape of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2014)

Differential geometric modelling and robust path following control of snake robots using sliding mode techniques. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ICRA, 2014)

A 3D motion planning framework for snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2014)

Mamba - A waterproof snake robot with tactile sensing. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IROS, 2014)

A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following. - Giancarlo Marafioti; Pål Liljebäck; Aksel Andreas Transeth (ROBIO, 2014)

A review on perception-driven obstacle-aided locomotion for snake robots. - Filippo Sanfilippo; Jon Azpiazu; Giancarlo Marafioti; Aksel Andreas Transeth; Øyvind Stavdahl; Pål Liljebäck (ICARCV, 2016)

Virtual functional segmentation of snake robots for perception-driven obstacle-aided locomotion? - Filippo Sanfilippo; Øyvind Stavdahl; Giancarlo Marafioti; Aksel Andreas Transeth; Pål Liljebäck (ROBIO, 2016)

Locomotion efficiency of underwater snake robots with thrusters. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (SSRR, 2016)

Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. - Eleni Kelasidi; Pål Liljebäck; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IEEE Robotics Autom. Mag., 2016)

SnakeSIM: A ROS-based rapid-prototyping framework for perception-driven obstacle-aided locomotion of snake robots. - Filippo Sanfilippo; Øyvind Stavdahl; Pål Liljebäck (ROBIO, 2017)

Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. - Eleni Kelasidi; Pål Liljebäck; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2017)

SnakeSIM: a ROS-based control and simulation framework for perception-driven obstacle-aided locomotion of snake robots. - Filippo Sanfilippo; Øyvind Stavdahl; Pål Liljebäck (Artif. Life Robotics, 2018)

Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. - Eleni Kelasidi; Signe Moe; Kristin Ytterstad Pettersen; Anna M. Kohl; Pål Liljebäck; Jan Tommy Gravdahl (Frontiers Robotics AI, 2019)

Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion. - Kristian G. Hanssen; Aksel Andreas Transeth; Filippo Sanfilippo; Pål Liljebäck; Øyvind Stavdahl (AMC, 2020)