@inproceedings{6088603, title = {Crawling and rolling gaits for a coupled-mobility snake robot}, booktitle = {Advanced Robotics (ICAR), 2011 15th International Conference on}, year = {2011}, month = jun, pages = {556-562}, keywords = {3D motion planning framework, 3D spline curve, coupled-mobility snake robot, crawling gaits, Equations, flexible body structure, interpolation, interpolation points, Joints, kinematic structure, Kinematics, mobile robots, path planning, robot kinematics, rolling gaits, Shape, splines (mathematics)}, doi = {10.1109/ICAR.2011.6088603}, author = {Ford, G. and Primerano, Richard A. and Kam, Moshe} }