Some New Robust Pseudo Forward and Rotation Gaits for the Snakeboard

The goal of this paper is to introduce some new robust gaits of the snakeboard. this is achievedby defining two parameters; the ratios of the frequencies and amplitudes of the snakeboard'ssinusoidal shape variable dynamics, and properly adjusting their variations. the gaits areproduced via stable and/or moving limit cycles. the highly symmetric patterns generated bythese gaits, besides their inherent beauty and coherency, exemplify the rich information contentof the underlying nonlinear system.