Movie S4.

The snake robot performing reversal turning in a sand bed due to a 180° phase shift in the vertical wave.

Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion

Henry C. Astley, Chaohui Gong, Jin Dai, Matthew Travers, Miguel M. Serrano, Patricio A. Vela, Howie Choset, Joseph R. Mendelson, David L. Hu, and Daniel I. Goldman

PNAS. 2015. 112:6200-6205 DOI: 10.1073/pnas.1418965112

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