Optimal turning gait for undulatory locomotion. - Saba Kohannim; Tetsuya Iwasaki (ACC, 2012)

Optimal turning gait for mechanical rectifier systems with three dimensional motion. - Saba Kohannim; Tetsuya Iwasaki (CDC, 2014)

Dynamical Model and Optimal Turning Gait for Mechanical Rectifier Systems. - Saba Kohannim; Tetsuya Iwasaki (IEEE Trans. Autom. Control., 2017)