@ARTICLE{Paszuk_D._Motion_2012, author={Paszuk, D. and TchoƄ, K. and Pietrowska, Z.}, volume={60}, number={No 3}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={547-555}, howpublished={online}, year={2012}, title={Motion planning of the trident snake robot equipped with passive or active wheels}, URL={http://www.journals.pan.pl/Content/83633/PDF/17_paper.pdf}, doi={10.2478/v10175-012-0067-9}, }