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2 link wedge - PowerPoint PPT Presentation

Snake climbing by wedging

Snake climbing by wedging. One Climbing method: Repeat: (1) Wedge bottom (2) Extend (3) Wedge top (4) Contract. 2-link wedge. Full Snake. Dynamics of 2-link Wedge. (at zero velocity). Lagrange EOM. Contact-Coordinate Relation. Friction Cone. Complementarity Conditions.

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2 link wedge - PowerPoint PPT Presentation

Snake climbing by wedging