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Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs\u2013Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.<\/jats:p>","DOI":"10.1017\/s0263574707003864","type":"journal-article","created":{"date-parts":[[2007,10,10]],"date-time":"2007-10-10T07:59:26Z","timestamp":1192003166000},"page":"267-276","source":"Crossref","is-referenced-by-count":28,"title":["Assisted passive snake-like robots: conception and dynamic modeling using Gibbs\u2013Appell method"],"prefix":"10.1017","volume":"26","author":[{"given":"Gholamreza","family":"Vossoughi","sequence":"first","affiliation":[]},{"given":"Hodjat","family":"Pendar","sequence":"additional","affiliation":[]},{"given":"Zoya","family":"Heidari","sequence":"additional","affiliation":[]},{"given":"Saman","family":"Mohammadi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"S0263574707003864_ref29","unstructured":"29. 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