# A Spiral Curve Gait Design for a Modular Snake Robot Moving on a Pipe

> Research article (International Journal of Control Automation and Systems, 2019) · cited 24× · AI/ML

**Wikidata**: [openalex:W2966232578](https://www.wikidata.org/wiki/openalex:W2966232578)  
**Source**: https://4ort.xyz/entity/a-spiral-curve-gait-design-for-a-modular-snake-robot-moving-on-a-pipe