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

Bayraktaroglu Z. Y., BUTEL F., Pasqui V., BLAZEVIC P.

ADVANCED ROBOTICS, vol.14, no.6, pp.447-458, 2000 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 14 Issue: 6
  • Publication Date: 2000
  • Doi Number: 10.1163/156855300741942
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.447-458
  • Istanbul Technical University Affiliated: No


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.