Karacol, Serkan, Deniz Korkmaz, Gonca Ozmen Koca, and Narin Karabulut. “A Study of Hopf and Amplitude-Controlled Phase Oscillators for Snake Robot Locomotion”. International Journal of Intelligent Systems and Applications in Engineering 7, no. 3 (September 30, 2019): 153-158. Accessed November 18, 2019. https://ijisae.org/IJISAE/article/view/1020.