1. Liljebäck P, Stavdahl Ø, Beitnes A (2006) SnakeFighter - development of a water hydraulic fire fighting snake robot. In: Proc. IEEE international conference on control, automation, robotics, and vision ICARCV, Singapore.
2. Wang Z, Appleton E (2003) The concept and research of a pipe crawling rescue robot. Adv Robot 17.4: 339–358.
3. Fjerdingen SA, Liljebäck P, Transeth AA (2009) A snake-like robot for internal inspection of complex pipe structures (PIKo). In: Proc. IEEE/RSJ international conference on intelligent robots and systems, St. Louis, MO, USA.
4. Dacic DB, Nesic D, Teel AR, Wang W: Path following for nonlinear systems with unstable zero dynamics: an averaging solution. IEEE Trans Automatic Control 2011, 56: 880–886. 10.1109/TAC.2011.2105130
5. Hirose S: Biologically inspired robots: snake-like locomotors and manipulators. Oxford University Press, Oxford, England; 1993.