Modeling Planar Snake Movement.

Abstract When the correct representation for modeling snake movement is chosen, then deriving equations of motion for snake movement on a flat plane is fairly easy. Furthermore, one overall dynamic model provides a unified approach to modeling many different gaits. So far, we have modeled rectilinear locomotion, lateral undulation, and sidewinding. A turn-in-place gait is currently under study.

Motion in the plane for the snake is actually quite accomodating from the mathematical perspective. All of the gaits that we can perform with the snake on flat ground can be analyzed using a little geometry and some differential equations. Normally reserchers choose to model the snake from the joint angles of the actuators (need pic).