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physics.bio-ph2013
Optimizing snake locomotion in the plane. II. Large transverse friction
Silas Alben
We determine analytically the form of optimal snake locomotion when the coefficient of transverse friction is large, the typical regime for biological and robotic snakes. We find t…
physics.bio-ph2013
Optimizing snake locomotion in the plane. I. Computations
Silas Alben
We develop a numerical scheme to determine which planar snake motions are optimal for locomotory efficiency, across a wide range of frictional parameter space. For a large coeffici…