AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

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"Soft" Continuum Robots - the Interaction of Continuous and Discrete Elements (2008, background): “Implications for the successful operation and deployment of continuum robots are identified and discussed.”
Online Optimization of Swimming and Crawling in an Amphibious Snake Robot (2008, background): “In agreement with our previous studies [3], [42], frequency is the parameter whose influence on the speed of locomotion is the simplest: with all other parameters fixed (i.e., amplitude, phase lag, and amplitude gain), increasing the frequency generally leads to an increase of speed (in the range…”
Receding Horizon Differential Dynamic Programming (2007, unknown): “[11]) using Central Pattern Generators.”
Central pattern generators for locomotion control in animals and robots: A review (2008, background): “The type of CPG models implemented in robots include connectionist models (Arena, 2000; Lu, Ma, & Wang, 2005), vector maps (Okada, Tatani, & Nakamura, 2002), and systems of coupled oscillators (Kimura et al., 1999; Williamson, 1998; Crespi & Ijspeert, 2006; Ijspeert et al., 2007 −0.”