@INPROCEEDINGS{Giguere_IROS_2006, author = {Philippe Giguere and Gregory Dudek and Chris Prahacs}, title = {Characterization and Modeling of Rotational Responses for an Oscillating Foil Underwater Robot}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2006}, month = {Oct.}, pages = {3000-3005} }