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Biomechanical Study of Serpentine Locomotion

  • Yoji Umetani
  • Sigeo Hirose
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)

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.

Keywords

Normal Force Tangential Force Biomechanical Study Antagonistic Muscle Zoological Experiment 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    MOSAUER W.,“Locomotion of snakes and its anatomical basis„ Ph.D. Thesis, University of Michigan, 1931, pp. 117–147.Google Scholar
  2. [2]
    RASHEVSKY N.,“Mathematical Biophysics„ Vol. II, Dover Publ., Inc., N.Y., 1962, pp 256–261.Google Scholar
  3. [3]
    GRAY J.,“Animal locomotion„ 1968, Norton, pp. 166–193.Google Scholar
  4. [4]
    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.Google Scholar
  5. [5]
    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.Google Scholar

Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • Yoji Umetani
    • 1
  • Sigeo Hirose
    • 2
  1. 1.Department of Physical EngineeringTokyo Institute of TechnologyTokyoJapan
  2. 2.Tokyo Institute of TechnologyTokyoJapan

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