Department of Mechanical Engineering,Shiraz University
Department of Mechanical Engineering,Yasouj University
The goal of this paper is to introduce some new robust gaits of the snakeboard. This is achieved
by dening two parameters; the ratios of the frequencies and amplitudes of the snakeboard's
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.