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S-Rolling: A Low-Clearance Steerable Rolling Gait for Twistable Snake Robots

S-Rolling is a steerable rolling gait for twistable snake robots that combines low-sweep-height locomotion with planar maneuverability. Based on an S-shaped planar backbone curve, its head and tail segments roll at independently controlled angular velocities to produce different motion modes.

Part of the event: Snake robot proposes low-clearance steerable rolling gait S-Rolling

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