Unifying Sidewinding and Rolling: A Wave-Based Framework for Self-Righting in Elongated Limbless and Multi-Legged Robots. - Hangjun Liu; Jiarui Geng; Jinxuan Ding; Gengzhi He; Xiyuan Wang; Melisa Arukgoda; Joe DiGennaro; George Ubertalli; Grigoriy Blekherman; Baxi Chong (CoRR, 2026)