Fig. 6

Summation of vertical and horizontal waves for the sidewinding locomotion of WORMESH-II. Blue colour wave is generated by pitch joints (\(\hbox {P}_{{ji1}}\) and \(\hbox {P}_{{ji2}}\)) on the vertical plane, and orange colour wave is generated by yaw joints (\(\hbox {Y}_{{ji1}}\) and \(\hbox {Y}_{{ji2}}\)) on the horizontal plane, Trajectories of CM shows by red colour curves on ZX plane