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Proceedings of the National Academy of Sciences of the United States of America, ISSN 0027-8424, 6/2009, Volume 106, Issue 25, pp. 10081 - 10085
Journal Article
Science, ISSN 0036-8075, 10/2014, Volume 346, Issue 6206, pp. 196 - 203
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 9/2018, Volume 37, Issue 10, pp. 1253 - 1268
Highly articulated systems are capable of executing a variety of behaviors by coordinating their many internal degrees of freedom to help them move more... 
dynamic movement primitive (DMP) | compliant control | shape function | hexapod robot | admittance control | kinematic synergies | snake robot | Articulated locomotion | central pattern generator (CPG) | MOVEMENTS | ROBOTICS | SYNERGIES | ROBOTS | Locomotion | Degrees of freedom | Mathematical analysis | Kinematics | Joining | Coupling | Shape functions
Journal Article
Journal of Field Robotics, ISSN 1556-4959, 05/2016, Volume 33, Issue 3, pp. 322 - 336
We present a method of achieving whole‐body compliant motions with a snake robot that allows the robot to automatically adapt to the shape of its environment.... 
ROBOTICS | Robots | Controllers | Navigation | Gait | Pipe | Estimates | Snakes | Tactile
Journal Article
Journal of the Royal Society Interface, ISSN 1742-5689, 11/2012, Volume 9, Issue 76, pp. 3067 - 3080
Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes move through crevices using sequential folding and unfolding of their... 
Gait | Anchorage | Limbless locomotion | anchorage | ROBOTS | gait | MULTIDISCIPLINARY SCIENCES | limbless locomotion | KINEMATICS | Biomechanical Phenomena | Animals | Analysis of Variance | Friction - physiology | Models, Biological | Snakes - physiology | Video Recording | Locomotion - physiology | Gait - physiology | 1004
Journal Article
Physics of Fluids, ISSN 1070-6631, 03/2016, Volume 28, Issue 3, p. 31901
Undulatory locomotion is ubiquitous in nature and observed in different media, from the swimming of flagellated microorganisms in biological fluids, to the... 
LOW-REYNOLDS-NUMBER | PHASE | MECHANICS | SANDFISH | DRAG | PHYSICS, FLUIDS & PLASMAS | SELF-PROPULSION | FLAGELLATED MICROORGANISMS | Sand | Computational fluid dynamics | Granular media | Media | Snakes | Locomotion | Microorganisms | Power consumption | Granular materials | Lizards | Sandfish | Swimming | Viscous fluids | Rheological properties | System effectiveness | Physics - Fluid Dynamics
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 02/2008, Volume 24, Issue 1, pp. 88 - 104
Journal Article
Robotica, ISSN 0263-5747, 12/2009, Volume 27, Issue 7, pp. 999 - 1015
Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too... 
Locomotion | Dynamics | Snake robots | Kinematics | DESIGN | ROBOTICS | MOTION | MANIPULATOR | CREEPING LOCOMOTION | SIMULATIONS | CONTINUUM ROBOTS
Journal Article
IEEE Transactions on Automatic Control, ISSN 0018-9286, 06/2011, Volume 56, Issue 6, pp. 1365 - 1380
This paper contributes to the understanding of snake robot locomotion by employing nonlinear system analysis tools for investigating fundamental properties of... 
Friction | motion control | underactuated robots | Controllability | Stability analysis | Orbits | snake robot | Mobile robots | Joints | Poincaré maps | Biologically-inspired robots | Poincare maps | AUTOMATION & CONTROL SYSTEMS | ENGINEERING, ELECTRICAL & ELECTRONIC | Measurement | Speed | Stability | Analysis | Innovations | Control systems | Incremental motion control | Methods | Robots
Journal Article
Physical Review E - Statistical, Nonlinear, and Soft Matter Physics, ISSN 1539-3755, 01/2014, Volume 89, Issue 1, p. 012717
We develop a model to study the locomotion of snakes on inclined planes. We determine numerically which snake motions are optimal for two retrograde... 
LOW-REYNOLDS-NUMBER | ROBOTS | PHYSICS, MATHEMATICAL | PHYSICS, FLUIDS & PLASMAS | KINEMATICS | Animals | Friction | Models, Biological | Body Size - physiology | Computer Simulation | Snakes - physiology | Locomotion - physiology | Gait - physiology
Journal Article
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, ISSN 1364-5021, 2018, Volume 474, Issue 2209, p. 20170503
Over the past few decades, oscillating flexible foils have been used to study the physics of organismal propulsion in different fluid environments. Here, we... 
Frictional medium | Snake locomotion | Flexible foil | Boundary layer | LOW-REYNOLDS-NUMBER | SPEED | flexible foil | boundary layer | MULTIDISCIPLINARY SCIENCES | HYDRODYNAMICS | FISH | ROBOTIC MODELS | frictional medium | UNDULATORY PROPULSION | FLOW | snake locomotion | Physics - Biological Physics | 1008 | 1009
Journal Article
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, ISSN 1364-5021, 11/2013, Volume 469, Issue 2159, pp. 20130236 - 20130236
We develop a numerical scheme to determine which planar snake motions are optimal for locomotory efficiency, across a wide range of frictional parameter space.... 
Locomotion | Sliding | Friction | Snake | Optimization | sliding | LOW-REYNOLDS-NUMBER | optimization | MULTIDISCIPLINARY SCIENCES | locomotion | snake | friction | PROPULSION | KINEMATICS | Asymptotic properties | Decay | Mathematical models | Ratcheting | Computational efficiency | Snakes
Journal Article
Proceedings of the National Academy of Sciences of the United States of America, ISSN 0027-8424, 5/2015, Volume 112, Issue 19, pp. 6200 - 6205
Journal Article
ACS Applied Materials & Interfaces, ISSN 1944-8244, 07/2018, Volume 10, Issue 27, pp. 22889 - 22895
The realization of serpentine locomotion has been a core goal pursued. Here, a straightforward approach was discovered to generate the serpentine locomotion... 
bionics soft robots | interface phenomenon | serpentine locomotion | smart materials | liquid metal | discretization effect | DESIGN | MATERIALS SCIENCE, MULTIDISCIPLINARY | NANOSCIENCE & NANOTECHNOLOGY | SOFT | ROBOTS | CIRCUITS | SNAKE | FABRICATION | EQUATION
Journal Article
Autonomous Robots, ISSN 0929-5593, 04/2010, Volume 28, Issue 3, pp. 283 - 294
In this paper, we present a biomimetic approach which is based on Central Pattern Generator (CPG) to solve the difficulty in control of a snake-like robot with... 
Snake-like robot | Adaptive locomotion | Feedback connection | Motion control | CPG network | ROBOTICS | CENTRAL PATTERN GENERATORS | COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE | Robotics industry | Biomimetics | Analysis | Robots | Robotics | Locomotion | Degrees of freedom | Friction | Mathematical analysis | Creep (materials) | Curvature | Joints
Journal Article
Journal of Experimental Biology, ISSN 0022-0949, 02/2018, Volume 221, Issue 4, pp. jeb166199 - jeb166199
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 08/2011, Volume 27, Issue 4, pp. 792 - 800
In a recent paper, the authors have proposed a control strategy for a snake robot during obstacle-aided locomotion. In this paper, experimental results are... 
Force | Contact modeling | underactuated robots | Propulsion | Lead | force and tactile sensing | Robot sensing systems | snake robot | Joints | Jamming | ROBOTICS | Robotics | Research | Locomotion | Obstacles | Strategy | Snakes | Robots
Journal Article
Journal of Intelligent & Robotic Systems, ISSN 0921-0296, 2/2017, Volume 85, Issue 2, pp. 209 - 227
Journal Article