{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T16:08:31Z","timestamp":1785946111334,"version":"3.56.0"},"reference-count":67,"publisher":"IOP Publishing","issue":"4","license":[{"start":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T00:00:00Z","timestamp":1781049600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T00:00:00Z","timestamp":1781049600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"name":"NSF","award":["2045581"],"award-info":[{"award-number":["2045581"]}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,8,31]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Snakes are masters of movement through cluttered, confined, and complex habitats, leading to attempts to replicate this mastery in snake robots to improve our access to these challenging environments. While snakes use a variety of locomotor modes, rectilinear allows snakes to move through even the narrowest of spaces. However, while other modes are driven by axial bending, rectilinear relies on motion of the muscular skin, making it challenging to replicate in robots. Prior robotic rectilinear was achieved using secondary actuator systems (e.g. prismatic joints), anteriorly propagating waves, and\/or standing waves, which require additional mechanical complexity, high vertical clearance, or dedicated parts for symmetry-breaking (e.g. electromagnets, deployable frictional pads), respectively. Here, I present a new algorithm which closely matches the robot to the motion of the snake\u2019s ventral skin (rather than the whole body) during rectilinear locomotion. Robot segments are assigned roles of either rigid ventral scales or flexible inter-scale skin. As in biological snakes, \u2018scale segments\u2019 are lifted clear of the substrate and moved forward via contraction and expansion of the adjacent \u2018skin motors\u2019. This \u2018cutaneous rectilinear algorithm\u2019 allows rectilinear locomotion without the need for additional actuators or other specialized modifications, and achieves similar displacement per cycle and current consumption to propagating vertical wave methods at a lower vertical height, improving access to highly confined spaces.<\/jats:p>","DOI":"10.1088\/1748-3190\/ae73d6","type":"journal-article","created":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T22:55:27Z","timestamp":1779922527000},"page":"044001","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Skin deep: a novel biomimetic control strategy for rectilinear locomotion in snake robots"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0136-1433","authenticated-orcid":true,"given":"Henry C","family":"Astley","sequence":"first","affiliation":[{"name":"Biomimicry Research & Innovation Center, University of Akron"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2026,6,10]]},"reference":[{"key":"bbae73d6bib1","author":"Hildebrand","year":"1985","type":"book"},{"key":"bbae73d6bib2","doi-asserted-by":"publisher","author":"Nussbaum","year":"1985","DOI":"10.2307\/2025643","type":"book"},{"key":"bbae73d6bib3","author":"Biewener","year":"2003","type":"book"},{"key":"bbae73d6bib4","author":"Vogel","year":"2003","type":"book"},{"key":"bbae73d6bib5","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1098\/rsta.2006.1910","type":"journal-article","article-title":"Biomimetic approaches to the control of underwater walking machines","volume":"365","author":"Ayers","year":"2007","journal-title":"Phil. 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Published by IOP Publishing Ltd","name":"copyright_information","label":"Copyright Information"},{"value":"2025-09-02","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-05-27","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-06-10","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}