The standard SPARQL query language is currently defined for querying RDF graphs without RDFS semantics. Several extensions of SPARQL to RDFS semantics have been proposed. In this paper, we discuss extensions of SPARQL that use regular expressions to navigate RDF graphs and may be used to answer queries considering RDFS semantics. In particular, we present and compare nSPARQL and our proposal CPSPARQL. We show that CPSPARQL is expressive enough to answer full SPARQL queries modulo RDFS. Finally, we compare the expressiveness and complexity of both nSPARQL and the corresponding frag- ment of CPSPARQL, that we call cpSPARQL. We show that both languages have the same complexity through cpSPARQL, being a proper extension of SPARQL graph patterns, is more expressive than nSPARQL.