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The Closed-Form Equations of Motion of a Snake Robot with C..:

, In: Lecture Notes in Electrical Engineering; Proceedings of China SAE Congress 2021: Selected Papers,
Qingmin, Huang ; Jin, Huang ; Xingyu, Li - p. 228-241 , 2022
Link: https://doi.org/10.1007/978-981-19-3842-9_19