This paper provides an 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 controllable inputs in the base space that locomote the Snakeboard along a given trajectory. The motion-planning problem or gait generation problem is solved for the generalized Snakeboard where the orientation of the wheels is not coupled, as well as for several special configurations of the Snakeboard.
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