@article{floyd2008design,
  title = {Design and development of the lifting and propulsion mechanism for a biologically inspired water runner robot},
  journal = {IEEE transactions on robotics},
  volume = {24},
  number = {3},
  pages = {698--709},
  publisher = {IEEE},
  year = {2008},
  author = {Floyd, Steven and Sitti, Metin}
}