S. A. Fjerdingen J. R. Mathiassen Henrik Schumann-Olsen E. Kyrkjebø Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments. 13-22 2008 EUROS http://dx.doi.org/10.1007/978-3-540-78317-6_2 conf/euros/2008 db/conf/euros/euros2008.html#FjerdingenMSK08