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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/u7luvopmad0i6wz9rfvfjz03v
- Original: https://arxiv.org/abs/2610.29478

## Summary

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.