@article{paperid:1022404,
author = {Kalani, Hadi and Akbarzadeh Tootoonchi, Alireza},
title = {Effect of Friction Models on Snake Robot Performance},
journal = {International Journal of Modeling and Optimization},
year = {2011},
volume = {1},
number = {2},
month = {June},
issn = {2010-3697},
pages = {129--133},
			numpages = {4},
keywords = {Snake-like robots; Taguchi method; DOE; Energy consumption; Serpentine gait; Kinematics; Dynamics.},
}