# Helical wave propagation motion for a snake robot on a vertical pipe containing a branch

> Research article (Artificial Life and Robotics, 2018) · cited 20× · AI/ML

**Wikidata**: [openalex:W2893662144](https://www.wikidata.org/wiki/openalex:W2893662144)  
**Source**: https://4ort.xyz/entity/helical-wave-propagation-motion-for-a-snake-robot-on-a-vertical-pipe-containing-a-branch