Fatao Qin Xiaojie Duan Shihao Ma Jinglun Yuan Xiangyu Wang Jianming Wang Xuan Xiao Design and Experiments of Snake Robots with Docking Function. 1208-1214 2022 IROS https://doi.org/10.1109/IROS47612.2022.9981896 conf/iros/2022 db/conf/iros/iros2022.html#QinDMYWWX22