@article{36,
  author = {Atsushi Kakogawa and Soo Jeon and Shugen Ma},
  title = {Stiffness Design of a Resonance-Based Planar Snake Robot With Parallel Elastic Actuators},
  year = {2018},
  journal = {IEEE Robotics and Automation Letters},
  volume = {3},
  number = {2},
  pages = {1284-1291},
  publisher = {IEEE},
}