Locomotion of a multi-link non-holonomic snake robot with passive joints

Recommended citation: Dear, T., Buchanan, B., Abrajan-Guerrero, R., Kelly, S.D., Travers, M. and Choset, H., 2020. Locomotion of a multi-link non-holonomic snake robot with passive joints. The International Journal of Robotics Research, 39(5), pp.598-616. https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2017/58288/230317