# The wheeled three-link snake model: singularities in nonholonomic constraints and stick–slip hybrid dynamics induced by Coulomb friction

> Research article (Nonlinear Dynamics, 2018) · cited 29× · AI/ML

**Wikidata**: [openalex:W2903847338](https://www.wikidata.org/wiki/openalex:W2903847338)  
**Source**: https://4ort.xyz/entity/the-wheeled-three-link-snake-model-singularities-in-nonholonomic-constraints-and-stickslip-hybrid-dynamics-induced-by-co