Christian Mandel Udo Frese Annelid - a Novel Design for Actuated Robots Inspired by Ringed Worm's Locomotion. 265-270 2011 ECMR http://aass.oru.se/Agora/ECMR2011/proceedings/papers/ECMR2011_0030.pdf conf/ecmr/2011 db/conf/ecmr/ecmr2011.html#MandelF11