An Analytic Motion Planning Solution for the Snakeboard

This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard's equations of motion to allow for such an explicit gait generation technique.