Some New Robust Pseudo Forward and Rotation Gaits for the Snakeboard


1 Department of Mechanical Engineering,Shiraz University

2 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 de ning 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.