@article{seo2013tank,
  title = {Tank-like module-based climbing robot using passive compliant joints},
  journal = {IEEE/ASME Transactions on Mechatronics},
  volume = {18},
  number = {1},
  pages = {397--408},
  year = {2013},
  author = {Seo, Taewon and Sitti, Metin}
}