Figure 6. Lateral movement of 3-link kinematic snake with shown trajectory of center of mass

From

Base Space of Nonholonomic System

Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Ľubica Miková

Journal of Automation and Control. 2016, 4(2), 10-14 doi:10.12691/automation-4-2-1