Unifying Sidewinding and Rolling: A Wave-Based Framework for Self-Righting in Elongated Limbless and Multi-Legged Robots

Hangjun Liu, Jiarui Geng, Jinxuan Ding +7

Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in clutt…