Mathieu Porez Vincent Lebastard Auke Jan Ijspeert Frédéric Boyer Multi-physics model of an electric fish-like robot: Numerical aspects and application to obstacle avoidance. 1901-1906 2011 IROS http://dx.doi.org/10.1109/IROS.2011.6094636 conf/iros/2011 db/conf/iros/iros2011.html#PorezLIB11