Some New Robust Pseudo Forward and Rotation Gaits for the Snakeboard

Abstract

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.