Our paper entitled: “A framework for dynamic modeling of legged modular miniature robots with soft backbones” is published in Elsevier Robotics and Autonomous Systems.
Mahkam N., Ozcan, O. “A framework for dynamic modeling of legged modular miniature robots with soft backbones,” Elsevier Robotics and Autonomous Systems, vol. 144, p. 103841, 2021, doi: https://doi.org/10.1016/j.robot.2021.103841.