Jim Ostrowski; Andrew Lewis; Richard Murray; Joel Burdick (1994). "Nonholonomic Mechanics and Locomotion: The Snakeboard Example"(PDF). Caltech Library. Department of Mechanical Engineering, California Institute of Technology. Archived(PDF) from the original on 2019-05-01. Retrieved 2021-10-27.
Jim Ostrowski; Andrew Lewis; Richard Murray; Joel Burdick (1994). "Nonholonomic Mechanics and Locomotion: The Snakeboard Example"(PDF). Caltech Library. Department of Mechanical Engineering, California Institute of Technology. Archived(PDF) from the original on 2019-05-01. Retrieved 2021-10-27.