A Study of Snake-like Locomotion Through the Analysis of a Flexible   Robot Model
  We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the equations of motion for two special cases: one in which the system is confined inside a frictionless channel, and one in which it is placed in an anisotropic frictional environment, modeling the dynamical setting of the slithering of snakes on flat surfaces. The presence of constraints in both cases leads to non-standard boundary conditions, that allow us to close the equations of motion reducing them to a differential and an integro-differential equation, respectively, for one end point (the tail) of the active rod. For the snake-like case we also provide analytic solutions for a special class of motions. We highlight the role of the spontaneous curvature in the pushing (and the steering, in the snake-like setting) needed to power locomotion. Comparisons with available experiments confirm that the model is able to capture many of the essential findings in the zoological literature. The complete solvability and the existence of analytic solutions offers a tool that may prove valuable for the design of bio-inspired soft robots. 
Giancarlo Cicconofri and Antonio DeSimone
cond-mat.soft cond-mat.mtrl-sci