Louis Phee Arianna Menciassi Dino Accoto Cesare Stefanini Paolo Dario Analysis of Robotic Locomotion Devices for the Gastrointestinal Tract. 467-483 2001 ISRR https://doi.org/10.1007/3-540-36460-9_31 conf/isrr/2001 db/conf/isrr/isrr2001.html#PheeMASD01