{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T19:27:14Z","timestamp":1773170834934,"version":"3.50.1"},"reference-count":110,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2009,3,3]],"date-time":"2009-03-03T00:00:00Z","timestamp":1236038400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10\u201315 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.<\/jats:p>","DOI":"10.1017\/s0263574709005414","type":"journal-article","created":{"date-parts":[[2009,3,3]],"date-time":"2009-03-03T10:49:47Z","timestamp":1236077387000},"page":"999-1015","source":"Crossref","is-referenced-by-count":170,"title":["A survey on snake robot modeling and locomotion"],"prefix":"10.1017","volume":"27","author":[{"given":"Aksel Andreas","family":"Transeth","sequence":"first","affiliation":[]},{"given":"Kristin Ytterstad","family":"Pettersen","sequence":"additional","affiliation":[]},{"given":"P\u00e5l","family":"Liljeb\u00e4ck","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,3]]},"reference":[{"key":"S0263574709005414_ref100","doi-asserted-by":"publisher","DOI":"10.1163\/156855300741942"},{"key":"S0263574709005414_ref44","first-page":"2837","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Mochiyama","year":"1999"},{"key":"S0263574709005414_ref7","first-page":"3007","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ma","year":"1999"},{"key":"S0263574709005414_ref45","first-page":"1653","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Mochiyama","year":"1998"},{"key":"S0263574709005414_ref49","volume-title":"Modeling and Simulation for Automatic Control","author":"Egeland","year":"2002"},{"key":"S0263574709005414_ref96","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2002.1035210"},{"key":"S0263574709005414_ref39","first-page":"2849","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Robinson","year":"1999"},{"key":"S0263574709005414_ref55","first-page":"415","article-title":"Modelling of snake-like locomotion","volume":"164","author":"Chernousko","year":"2005","journal-title":"Appl. Math. Comput."},{"key":"S0263574709005414_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/37.980248"},{"key":"S0263574709005414_ref60","unstructured":"60. Bloch A. , Krishnaprasad P. , Marsden J. and Murray R. , \u201cNonholonomic Mechanical Systems with Symmetry,\u201d Technical Report (California Institute of Technology, 1995)."},{"key":"S0263574709005414_ref79","volume-title":"Proceedings of 36th International Symposium on Robotics","author":"Yamada","year":"2005"},{"key":"S0263574709005414_ref37","volume-title":"Differential Geometry of Curves and Surfaces","author":"Do Carmo","year":"1976"},{"key":"S0263574709005414_ref105","volume-title":"Modelling and Control of Robot Manipulators","author":"Sciavicco","year":"1999"},{"key":"S0263574709005414_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825473"},{"key":"S0263574709005414_ref2","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1242\/jeb.23.2.101","article-title":"The mechanism of locomotion in snakes","volume":"23","author":"Gray","year":"1946","journal-title":"J. Exp. Biol."},{"key":"S0263574709005414_ref74","first-page":"53","volume-title":"IEEE Robot. Autom. Mag.","volume":"10","author":"Rincon","year":"2003"},{"key":"S0263574709005414_ref75","first-page":"2508","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Yim","year":"1994"},{"key":"S0263574709005414_ref33","first-page":"720","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Chirikjian","year":"1991"},{"key":"S0263574709005414_ref81","first-page":"3001","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Dowling","year":"1999"},{"key":"S0263574709005414_ref24","volume-title":"Snakes: A Natural History","author":"Bauchot","year":"1994"},{"key":"S0263574709005414_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/37.476384"},{"key":"S0263574709005414_ref29","volume-title":"Proceedings of 16th IFAC World Congress","author":"Liljeb\u00e4ck","year":"2005"},{"key":"S0263574709005414_ref90","doi-asserted-by":"publisher","DOI":"10.1115\/1.1870045"},{"key":"S0263574709005414_ref97","unstructured":"97. Choset H. , \u201cSnake robots at Carnegie Mellon University,\u201d http:\/\/www.snakerobot.com\/ (2007), online. Accessed September 29, 2007."},{"key":"S0263574709005414_ref92","first-page":"1","volume-title":"Proceedings of IEEE International Conference on Robotics and Biomimetics","author":"Hirose","year":"2004"},{"key":"S0263574709005414_ref23","volume-title":"The Encyclopaedia of Snakes","author":"Mattison","year":"2002"},{"key":"S0263574709005414_ref5","first-page":"1310","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Lewis","year":"1994"},{"key":"S0263574709005414_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IJSIS.1996.565065"},{"key":"S0263574709005414_ref25","unstructured":"25. Dowling K. J. , \u2018Limbless Locomotion. Learning to Crawl with a Snake Robot Ph.D. Dissertation (Carnegie Mellon University, Dec. 1997)."},{"key":"S0263574709005414_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/b97376"},{"key":"S0263574709005414_ref3","volume-title":"Biologically Inspired Robots: Snake-Like Locomotors and Manipulators","author":"Hirose","year":"1993"},{"key":"S0263574709005414_ref1","doi-asserted-by":"crossref","first-page":"271","DOI":"10.7551\/mitpress\/4962.003.0023","volume-title":"Neurotechnology for Biomimetic Robots","author":"Miller","year":"2002"},{"key":"S0263574709005414_ref88","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-5204-6"},{"key":"S0263574709005414_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/70.478426"},{"key":"S0263574709005414_ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041493"},{"key":"S0263574709005414_ref34","unstructured":"34. Chirikjian G. S. , Theory and Applications of Hyper-Redundant Robotic Manipulators Ph.D. Dissertation (California Institute of Technology, Pasadena, California, 1992)."},{"key":"S0263574709005414_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.291864"},{"key":"S0263574709005414_ref99","volume-title":"Proceedings of Mechatronical Computer Systems for Perception and Action","author":"Nilsson","year":"1997"},{"key":"S0263574709005414_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506885"},{"key":"S0263574709005414_ref42","first-page":"19","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Gravagne","year":"2000"},{"key":"S0263574709005414_ref50","first-page":"767","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ma","year":"2004"},{"key":"S0263574709005414_ref58","first-page":"1695","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"McIsaac","year":"2000"},{"key":"S0263574709005414_ref27","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray","year":"1994"},{"key":"S0263574709005414_ref78","doi-asserted-by":"publisher","DOI":"10.1109\/37.648623"},{"key":"S0263574709005414_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/70.294209"},{"key":"S0263574709005414_ref103","doi-asserted-by":"publisher","DOI":"10.1109\/70.954756"},{"key":"S0263574709005414_ref13","first-page":"2955","volume-title":"Proceedings of 33rd IEEE Conference on Decision and Control","author":"Krishnaprasad","year":"1994"},{"key":"S0263574709005414_ref110","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.917003"},{"key":"S0263574709005414_ref10","first-page":"347","volume-title":"Proceedings IEEE International Conference on Robotics, Intelligent Systems and Signal Processing","author":"Xinyu","year":"2003"},{"key":"S0263574709005414_ref47","first-page":"502","volume-title":"Proceedings of IEEE International Conference on Control Applications","author":"Prautsch","year":"1999"},{"key":"S0263574709005414_ref48","first-page":"2067","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ma","year":"2003"},{"key":"S0263574709005414_ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812829"},{"key":"S0263574709005414_ref84","first-page":"2236","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Date","year":"2000"},{"key":"S0263574709005414_ref89","first-page":"241","volume-title":"Proceedings of Second RoMAnSy Symposium","author":"Hirose","year":"1976"},{"key":"S0263574709005414_ref106","doi-asserted-by":"publisher","DOI":"10.1109\/37.980248"},{"key":"S0263574709005414_ref15","first-page":"2073","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ma","year":"2003"},{"key":"S0263574709005414_ref18","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1163\/15685530152116236","article-title":"Analysis of creeping locomotion of a snake-like robot","volume":"15","author":"Ma","year":"2001","journal-title":"Adv. Rob."},{"key":"S0263574709005414_ref43","first-page":"2544","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Gravagne","year":"2000"},{"key":"S0263574709005414_ref46","first-page":"161","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Mochiyama","year":"1998"},{"key":"S0263574709005414_ref66","first-page":"1505","volume-title":"Proceedings of the 41st SICE Annual Conference","author":"Mochiyama","year":"2002"},{"key":"S0263574709005414_ref80","first-page":"2242","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Togawa","year":"2000"},{"key":"S0263574709005414_ref107","volume-title":"Robot Modeling and Control","author":"Spong","year":"2006"},{"key":"S0263574709005414_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/21.247890"},{"key":"S0263574709005414_ref63","doi-asserted-by":"publisher","DOI":"10.1163\/156855395X00175"},{"key":"S0263574709005414_ref98","unstructured":"98. Miller G. , \u201cDr. Miller's snake robots,\u201d http:\/\/www.snakerobots.com\/ (2007), online. Accessed September 29, 2007."},{"key":"S0263574709005414_ref41","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10070"},{"key":"S0263574709005414_ref64","doi-asserted-by":"publisher","DOI":"10.1109\/MHS.2005.1589961"},{"key":"S0263574709005414_ref62","first-page":"2582","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Transeth","year":"2007"},{"key":"S0263574709005414_ref52","first-page":"1189","volume-title":"Proceedings of IEEE International Conference on Robotics and Biomimetics","author":"Transeth","year":"2006"},{"key":"S0263574709005414_ref70","first-page":"52","volume-title":"Proceedings of IEEE International Conference on Intelligent Robots and Systems","author":"Masayuki","year":"2004"},{"key":"S0263574709005414_ref32","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620120607"},{"key":"S0263574709005414_ref76","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2002.1160071"},{"key":"S0263574709005414_ref104","volume-title":"Proceedings of ASCE Space and Robotics","author":"Henning","year":"1998"},{"key":"S0263574709005414_ref4","first-page":"694","volume-title":"Proceedings of the IEEE International Conference on Industrial Technology","author":"Wiriyacharoensunthorn","year":"2002"},{"key":"S0263574709005414_ref54","first-page":"321","volume-title":"Proceedings of Second International Conference on Control of Oscillations and Chaos","author":"Chernousko","year":"2000"},{"key":"S0263574709005414_ref108","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.914849"},{"key":"S0263574709005414_ref95","first-page":"589","volume-title":"Proceedings of IEEE International Conference on Robotics and Biomimetics","author":"Ye","year":"2004"},{"key":"S0263574709005414_ref53","unstructured":"53. Liljeb\u00e4ck P. , Modular Snake-Robot: Modeling, Implementation and Control of a Modular and Pressure Based Snake-Robot Master's Thesis (Norwegian University of Technology and Science, Trondheim, Norway, 2004)."},{"key":"S0263574709005414_ref69","first-page":"1","article-title":"Development of practical 3-dimensional active cord mechanism ACM-R4","volume":"18","author":"Yamada","year":"2006","journal-title":"J. Rob. Mechatronics"},{"key":"S0263574709005414_ref82","first-page":"5070","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Chen","year":"2004"},{"key":"S0263574709005414_ref85","first-page":"113","volume-title":"Proceedings of American Control Conference","author":"Date","year":"2001"},{"key":"S0263574709005414_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.814495"},{"key":"S0263574709005414_ref93","first-page":"1487","volume-title":"Proceedings of 41st SICE Annual Conference","author":"Ohmameuda","year":"2002"},{"key":"S0263574709005414_ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.606864"},{"key":"S0263574709005414_ref36","first-page":"2890","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Yamada","year":"2006"},{"key":"S0263574709005414_ref87","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022002001"},{"key":"S0263574709005414_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861458"},{"key":"S0263574709005414_ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.875492"},{"key":"S0263574709005414_ref72","first-page":"5075","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ye","year":"2004"},{"key":"S0263574709005414_ref11","first-page":"5081","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Kamegawa","year":"2004"},{"key":"S0263574709005414_ref51","first-page":"1181","volume-title":"Proceedings of IEEE International Conference on Robotics and Biomimetics","author":"Transeth","year":"2006"},{"key":"S0263574709005414_ref59","first-page":"1","volume-title":"Proceedings of International Symposium on Aqua Biomechanisms","author":"Ayers","year":"2000"},{"key":"S0263574709005414_ref73","first-page":"1322","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Bayraktarouglu","year":"1999"},{"key":"S0263574709005414_ref17","first-page":"707","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ohno","year":"2001"},{"key":"S0263574709005414_ref83","first-page":"1751","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Nilsson","year":"2004"},{"key":"S0263574709005414_ref101","first-page":"1695","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"McIsaac","year":"2000"},{"key":"S0263574709005414_ref57","first-page":"2843","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"McIsaac","year":"1999"},{"key":"S0263574709005414_ref94","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851028"},{"key":"S0263574709005414_ref102","first-page":"381","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ito","year":"2006"},{"key":"S0263574709005414_ref86","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700701"},{"key":"S0263574709005414_ref109","first-page":"3539","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Transeth","year":"2007"},{"key":"S0263574709005414_ref91","first-page":"1001","volume-title":"Proceedings of IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","author":"Bayraktaroglu","year":"2006"},{"key":"S0263574709005414_ref9","first-page":"1075","volume-title":"Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing","author":"Lu","year":"2003"},{"key":"S0263574709005414_ref8","first-page":"77","volume-title":"Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation","author":"Ma","year":"2001"},{"key":"S0263574709005414_ref56","first-page":"3656","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ma","year":"2001"},{"key":"S0263574709005414_ref20","first-page":"526","volume-title":"Proceedings of 7th International Workshop on Advanced Motion Control","author":"Grabec","year":"2002"},{"key":"S0263574709005414_ref28","first-page":"418","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Poi","year":"1998"},{"key":"S0263574709005414_ref35","doi-asserted-by":"publisher","DOI":"10.1002\/rob.8108"},{"key":"S0263574709005414_ref65","first-page":"3672","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Mochiyama","year":"2003"},{"key":"S0263574709005414_ref68","doi-asserted-by":"publisher","DOI":"10.1115\/1.2894088"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005414","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,11]],"date-time":"2024-03-11T01:15:42Z","timestamp":1710119742000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005414\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,3]]},"references-count":110,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2009,12]]}},"alternative-id":["S0263574709005414"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005414","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,3]]}}}