A spring-like pipe climbing gait for the snake robot. - Yunhu Zhou; Yuanfei Zhang; Fenglei Ni; Hong Liu 002 (ROBIO, 2017)

Head-Raising Method of Snake Robots Based on the Bézier Curve. - Yunhu Zhou; Yuanfei Zhang; Fenglei Ni; Hong Liu 002 (Robotica, 2021)