@InProceedings{	  stoy2003implementing-configuration-dependent-gaits,
  abstract	= {In this paper we examine locomotion in the context of
		  self-reconfigurable robots. Self-reconfigurable robots are
		  robots built from many connected modules. A
		  self-reconfigurable robot can change its shape and
		  configuration by changing the way these modules are
		  connected. The focus of this paper is to understand how
		  several locomotion gaits can be represented in such a robot
		  and how the robot can select one of these gaits depending
		  on its configuration. We implement a control system based
		  on role based control in a physical self-reconfigurable
		  robot built from seven modules. In several experiments we
		  successfully demonstrate that when the robot is manually
		  reconfigured from a chain to a quadruped configuration the
		  robot changes gait from a sidewinder snake gait to a
		  quadruped walking gait. We conclude that role based control
		  is a promising central method for controlling locomotion of
		  self-reconfigurable robots.},
  address	= {Taiwan},
  author	= {Kasper St{\o}y and Wei-Min Shen and Peter Will},
  booktitle	= icra-03,
  pages		= {3828--3833},
  title		= {Implementing Configuration Dependent Gaits in a
		  Self-Reconfigurable Robot},
  year		= {2003}
}