@article{li2015analysis,
  title={Analysis and design of asymmetric oscillation for caterpillar-like locomotion},
  author={Li, Guoyuan and Li, Wei and Zhang, Jianwei and Zhang, Houxiang},
  journal={Journal of Bionic Engineering},
  volume={12},
  number={2},
  pages={190--203},
  year={2015},
  publisher={Elsevier}
}