references:Wong_Saito2002
Title Serpentine locomotion with robotic snakes
Authors Saito, M., Fukaya, M., & Iwasaki, T.
Journal IEEE Control Systems Magazine
Volume 1
Issue 22
Pages 64 -81
Year 2002
URL [http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=00980248]
Annotations The authors optimized gait while the robot was moving, via feedback loops, updating parameters in real-time. They reported that optimal gaits were found to be significantly different from one terrain to another.