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Some New Robust Pseudo Forward and Rotation Gaits for the Snakeboard

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The goal of this paper is to introduce some new robust gaits of the snakeboard. This is achieved by defining two parameters; the ratios of the frequencies and amplitudes of the snakeboardיs sinusoidal shape variable dynamics, and properly adjusting their variations. The gaits are produced via stable and/or moving limit cycles. The highly symmetric patterns generated by these gaits, besides their inherent beauty and coherency, exemplify the rich information content of the underlying nonlinear system.

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