Serpentine locomotion on surfaces with uniform friction

Nilsson, Martin (2004) Serpentine locomotion on surfaces with uniform friction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ICRA'04), 28 Sep - 2 Oct 2004, Sendai, Japan.

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A common view in snake robot research is that serpentine locomotion is only possible when there is nonuniform friction. This paper demonstrates that this view is incorrect, through a simple and easily reproducible experiment. We also present a theoretical kinematical analysis, which explains the experiment.

Item Type:Conference or Workshop Item (Paper)
ID Code:2748
Deposited On:18 Mar 2008
Last Modified:18 Nov 2009 16:13

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