@article{nonplanarsnakegaitsfromstigmaticstarts,
  title = {Non-planar snake gaits: from Stigmatic-starts to Sidewinding},
  author = {N. Charles and R. Chelakkot and M. Gazzola and B. Young and L. Mahadevan},
  year = {2023},
  eprint = {2303.15482},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2303.15482v2},
}