Summary
The snake, in spite of its simple shape, can be considered to be a versatile robot having various functions. The authors are greatly intrigued by this fact, and believe that its biomechanical study will be instructive to design a new snake-like vehicle.
This paper deals with the kinematical analysis of the serpentine movement of snakes, zoological experiments for verifying the theory, and a mechanical model produced for designing snake-like vehicles for use as a robot.
All figures quoted in the text are at the end of the lecture
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References
MOSAUER W.,“Locomotion of snakes and its anatomical basis„ Ph.D. Thesis, University of Michigan, 1931, pp. 117–147.
RASHEVSKY N.,“Mathematical Biophysics„ Vol. II, Dover Publ., Inc., N.Y., 1962, pp 256–261.
GRAY J.,“Animal locomotion„ 1968, Norton, pp. 166–193.
UMETANI Y.,“Kinematics and control mechanisms of serpentine movement — Part II. Analysis and experiment by a model„ BIOMECHANISM, University of Tokyo Press, Tokyo, 1972, pp. 243–251.
UMETANI Y., HIROSE S.,“Biomechanical study on serpentine locomotion — Mechanical analysis and zoological experiment for the stationary straightforward movement„—, Trans. S.c. Instrument & Control Engrs., 8, 6, 1972, pp. 724–731.
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© 1974 Springer-Verlag Wien
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Umetani, Y., Hirose, S. (1974). Biomechanical Study of Serpentine Locomotion. In: On Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 201. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2993-7_12
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DOI: https://doi.org/10.1007/978-3-7091-2993-7_12
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-81252-5
Online ISBN: 978-3-7091-2993-7
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