Non-brake orbit gaits derived from the natural dynamics of an elastic snake robot are perfectly efficient in the conservative case and achieve higher efficiency with friction than state-of-the-art rigid gaits.
Locomotion dynamics of an underactuated three-link robotic vehicle
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Locomotion of an Elastic Snake Robot via Natural Dynamics
Non-brake orbit gaits derived from the natural dynamics of an elastic snake robot are perfectly efficient in the conservative case and achieve higher efficiency with friction than state-of-the-art rigid gaits.