Snake-like locomotion: integration of geometry and kineto-statics

Abstract

The snake is represented by over 2500 species on earth. Widespread geographical distribution as well as a long history of evolution mean that they possess a relatively adaptive anatomy. This paper deals with snake-like locomotion that is distinguished from wheeled and legged locomotion by fundamental physical differences. A biologically motivated alternative locomotion for mobile robots is the aim of the project. A number of biological unknowns in the problem let us to make hypotheses based on heuristic approaches. Research on snake-like locomotion is motivated by several applications from inspection in hazardous environments to use as medical equipment.