This research aims to discover the mechanism and principle for the emergence of the snakes' movement in order to realize a snake-like robot. In this study, we elucidate the standard creeping movement form of a snake, which is the typical locomotive motion shown by snakes. The so called serpentine curve in the constant steady-state velocity is derived for the uniform creeping locomotion of the snake, through analyzing physiologically its muscle characteristics. Muscular force is then discussed for this uniform locomotive curve. We also compare the locomotive efficiencies for various creeping movement curves of snake locomotion, by analyzing the ratio of the tangential force to the normal force and the power required for snake locomotion. The results show that the proposed serpentine curve is more valid as the snake creeping locomotion shape than the formerly suggested curves.
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