@article {kakogawa2018stiffness,
	title = {Stiffness Design of a Resonance-Based Planar Snake Robot With Parallel Elastic Actuators},
	journal = {IEEE Robotics and Automation Letters},
	volume = {3},
	number = {2},
	year = {2018},
	pages = {1284{\textendash}1291},
	publisher = {IEEE},
	url = {https://doi.org/10.1109/LRA.2018.2797261},
	author = {Atsushi Kakogawa and Jeon, Soo and Ma, Shugen}
}
