Optimizing snake locomotion in the plane. II. Large transverse friction
Silas Alben
TL;DR
This paper analytically determines the optimal snake locomotion pattern in the plane under large transverse friction, revealing a retrograde wave with amplitude decreasing as the -1/4 power of the friction coefficient, aligning with numerical results.
Contribution
It provides a theoretical analysis of optimal snake movement in high transverse friction regimes, extending previous work with analytical and numerical insights.
Findings
Optimal snake motion is a retrograde traveling wave.
Wave amplitude scales as the -1/4 power of transverse friction.
Analytical results agree with numerical simulations.
Abstract
We determine analytically the form of optimal snake locomotion when the coefficient of transverse friction is large, the typical regime for biological and robotic snakes. We find that the optimal snake motion is a retrograde traveling wave, with a wave amplitude that decays as the -1/4 power of the coefficient of transverse friction. This result agrees well with our numerical computations.
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Taxonomy
TopicsRobotic Locomotion and Control · Biomimetic flight and propulsion mechanisms · Amphibian and Reptile Biology