Movie S5.

The snake robot performing frequency turning in a sand bed due to a 0.6 ratio in spatial frequency of the vertical and horizontal waves.

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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