{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T15:33:33Z","timestamp":1780068813587,"version":"3.54.0"},"reference-count":27,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2020,6,3]],"date-time":"2020-06-03T00:00:00Z","timestamp":1591142400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100006109","name":"Vedeck\u00e1 Grantov\u00e1 Agent\u00fara M\u0160VVa\u0160 SR a SAV","doi-asserted-by":"publisher","award":["VEGA 1\/0389\/18"],"award-info":[{"award-number":["VEGA 1\/0389\/18"]}],"id":[{"id":"10.13039\/501100006109","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100006109","name":"Vedeck\u00e1 Grantov\u00e1 Agent\u00fara M\u0160VVa\u0160 SR a SAV","doi-asserted-by":"publisher","award":["VEGA 1\/0019\/20"],"award-info":[{"award-number":["VEGA 1\/0019\/20"]}],"id":[{"id":"10.13039\/501100006109","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001823","name":"Ministerstvo \u0160kolstv\u00ed, Ml\u00e1de\u017ee a T\u011blov\u00fdchovy","doi-asserted-by":"publisher","award":["CZ.02.1.01\/0.0\/0.0\/16_019\/0000867"],"award-info":[{"award-number":["CZ.02.1.01\/0.0\/0.0\/16_019\/0000867"]}],"id":[{"id":"10.13039\/501100001823","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.<\/jats:p>","DOI":"10.3390\/sym12060939","type":"journal-article","created":{"date-parts":[[2020,6,5]],"date-time":"2020-06-05T03:32:21Z","timestamp":1591327941000},"page":"939","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Investigation of Snake Robot Locomotion Possibilities in a Pipe"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8273-2384","authenticated-orcid":false,"given":"Ivan","family":"Virgala","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering, Technical University of Ko\u0161ice, 04200 Ko\u0161ice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michal","family":"Kelemen","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Technical University of Ko\u0161ice, 04200 Ko\u0161ice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3891-3847","authenticated-orcid":false,"given":"Pavol","family":"Bo\u017eek","sequence":"additional","affiliation":[{"name":"Faculty of Material Science and Technology in Trnava, Slovak University of Technology in Bratislava, 917 24 Trnava, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4134-5251","authenticated-orcid":false,"given":"Zdenko","family":"Bobovsk\u00fd","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 708 00 Ostrava, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0878-6717","authenticated-orcid":false,"given":"Martin","family":"Hagara","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Technical University of Ko\u0161ice, 04200 Ko\u0161ice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7226-1240","authenticated-orcid":false,"given":"Erik","family":"Prada","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Technical University of Ko\u0161ice, 04200 Ko\u0161ice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6973-1501","authenticated-orcid":false,"given":"Petr","family":"O\u0161\u010d\u00e1dal","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 708 00 Ostrava, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin","family":"Varga","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Technical University of Ko\u0161ice, 04200 Ko\u0161ice, Slovakia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Lipt\u00e1k, T., Virgala, I., Frankovsk\u00fd, P., \u0160arga, P., Gmiterko, A., and Balo\u010dkov\u00e1, L. 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