• Nonholonomic mechanics and locomotion: the snakeboard example 

      Lewis, Andrew D.; Ostrowski, James P.; Burdick, Joel W.; Murray, Richard M. (IEEE, 1994)
      Analysis and simulations are performed for a simplified model of a commercially available variant on the skateboard, known as the Snakeboard.1 Although the model exhibits basic gait patterns seen in a large number of ...