This article presents a new model of a wheel-less snake-like robot based on snake anatomy. Most prior research studies that have been done on snake robot were focused on emulating the locomotion appearance. In this article, linear actuators were employed to emulate muscles’ behaviour rather than using torque motors between every module. In addition, springs and dampers were utilized between ribs in order to resemble muscles better and conduct the force. Then, dynamic equation of this model is derived to understand legless locomotion.
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