Engineering observation of lateral undulation in colubrid snakes for wheel-less locomotion

Nature has always inspired engineers. This research tries to understand the contribution of snake anatomy in its locomotion from engineering point of view to be adopted in the design of snake robots. Rib design and muscular structure of snake robots will have a great impact on snake robot flexibility, weight, and actuators' torque. It will help to eliminate wheels in snake robots during serpentine locomotion. The result of this research shows that snakes can establish the required peg points on smooth surfaces by deflecting the body and ribs. The results are verified by both field observations and simulation.