![]() ![]() ![]() The way snakes move has been the subject of seminal works by Gray see also. the ability of snakes to handle unexpected interactions with unstructured environments and move successfully on uneven terrains by adapting their gait to ground properties that change from place to place in an unpredictable way). ![]() the manipulation abilities of an elephant trunk or of an octopus arm) and adaptability (e.g. This is a new and recent paradigm in robotic science, whereby inspiration is sought from nature to endow robots with new capabilities in terms of dexterity (e.g. More recently, it has become a topic of great interest as one of the key examples of soft bioinspired robotics. Snake locomotion has fascinated natural scientists for a long time. We also provide analytical solutions for a special class of serpentine motions, which enable us to discuss the connection between observed trajectories, internal actuation and forces exchanged with the environment. We derive explicit formulae highlighting the role of spontaneous curvature in providing the driving force (and the steering, in the free-path case) needed for locomotion. The kinematics and dynamics of the system can be recovered from a one-dimensional equation, without any restrictive assumption on the followed trajectory or the actuation. The presence of constraints leads in both cases to non-standard boundary conditions that allow us to close and solve the equations of motion. The second setting is inspired by undulatory locomotion of snakes on flat surfaces. Using a Cosserat model, we derive the equations of motion in two special cases: one in which the rod can only move along a prescribed curve, and one in which the rod is constrained to slide longitudinally without slipping laterally, but the path is not fixed a priori (free-path case). We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod with adjustable spontaneous curvature, which provides an internal actuation mechanism that mimics muscular action in a snake. ![]()
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