Robophysical Modeling of Soft Limbless Locomotors
311
16. Liljeb¨ ack, P., Pettersen, K.Y., Stavdahl, Ø., Gravdahl, J.T.: A review on modelling,
implementation, and control of snake robots. Robot. Auton. Syst. 60(1), 29–40
(2012)
17. Mosauer, W.: Locomotion and diurnal range of sonora occipitalis, crotalus cerastes,
and crotalus atrox as seen from their tracks. Copeia 1933(1), 14–16 (1933)
18. Ponte, H., et al.: Visual sensing for developing autonomous behavior in snake
robots. In: 2014 IEEE International Conference on Robotics and Automation
(ICRA), pp. 2779–2784. IEEE (2014)
19. Rieser, J.M., et al.: Dynamics of scattering in undulatory active collisions. Phys.
Rev. E 99(2), 022606 (2019)
20. Rollinson, D., et al.: Design and architecture of a series elastic snake robot. In:
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.
4630–4636. IEEE (2014)
21. Sanfilippo, F., Azpiazu, J., Marafioti, G., Transeth, A.A., Stavdahl, Ø., Liljeb¨ ack,
P.: Perception-driven obstacle-aided locomotion for snake robots: the state of the
art, challenges and possibilities. Appl. Sci. 7(4), 336 (2017)
22. Sanfilippo, F., Helgerud, E., Stadheim, P.A., Aronsen, S.L.: Serpens: a highly compliant low-cost ros-based snake robot with series elastic actuators, stereoscopic
vision and a screw-less assembly mechanism. Appl. Sci. 9(3), 396 (2019)
23. Saranli, U., Buehler, M., Koditschek, D.E.: RHex: a simple and highly mobile
hexapod robot. Int. J. Robot. Res. 20(7), 616–631 (2001)
24. Sato, T., Kano, T., Ishiguro, A.: On the applicability of the decentralized control mechanism extracted from the true slime mold: a robotic case study with a
serpentine robot. Bioinspir. Biomimet. 6(2), 026006 (2011)
25. Schiebel, P.E., et al.: Mitigating memory effects during undulatory locomotion on
hysteretic materials. Elife 9, e51412 (2020)
26. Schiebel, P.E., Rieser, J.M., Hubbard, A.M., Chen, L., Rocklin, D.Z., Goldman,
D.I.: Mechanical diffraction reveals the role of passive dynamics in a slithering
snake. Proc. Nat. Acad. Sci. USA 116(11), 4798–4803 (2019)
27. Tanaka, M., Kon, K., Tanaka, K.: Range-sensor-based semiautonomous wholebody collision avoidance of a snake robot. IEEE Trans. Control Syst. Technol.
23(5), 1927–1934 (2015)
28. Transeth, A.A.: Snake robot obstacle-aided locomotion: modeling, simulations, and
experiments. IEEE Trans. Rob. 24(1), 88–104 (2008)
29. Travers, M.J., Whitman, J., Schiebel, P., Goldman, D., Choset, H.: Shape-based
compliance in locomotion. In: Robotics: Science and Systems (2016)
30. Wu, X., Ma, S.: Neurally controlled steering for collision-free behavior of a snake
robot. IEEE Trans. Control Syst. Technol. 21(6), 2443–2449 (2013)
311
16. Liljeb¨ ack, P., Pettersen, K.Y., Stavdahl, Ø., Gravdahl, J.T.: A review on modelling,
implementation, and control of snake robots. Robot. Auton. Syst. 60(1), 29–40
(2012)
17. Mosauer, W.: Locomotion and diurnal range of sonora occipitalis, crotalus cerastes,
and crotalus atrox as seen from their tracks. Copeia 1933(1), 14–16 (1933)
18. Ponte, H., et al.: Visual sensing for developing autonomous behavior in snake
robots. In: 2014 IEEE International Conference on Robotics and Automation
(ICRA), pp. 2779–2784. IEEE (2014)
19. Rieser, J.M., et al.: Dynamics of scattering in undulatory active collisions. Phys.
Rev. E 99(2), 022606 (2019)
20. Rollinson, D., et al.: Design and architecture of a series elastic snake robot. In:
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.
4630–4636. IEEE (2014)
21. Sanfilippo, F., Azpiazu, J., Marafioti, G., Transeth, A.A., Stavdahl, Ø., Liljeb¨ ack,
P.: Perception-driven obstacle-aided locomotion for snake robots: the state of the
art, challenges and possibilities. Appl. Sci. 7(4), 336 (2017)
22. Sanfilippo, F., Helgerud, E., Stadheim, P.A., Aronsen, S.L.: Serpens: a highly compliant low-cost ros-based snake robot with series elastic actuators, stereoscopic
vision and a screw-less assembly mechanism. Appl. Sci. 9(3), 396 (2019)
23. Saranli, U., Buehler, M., Koditschek, D.E.: RHex: a simple and highly mobile
hexapod robot. Int. J. Robot. Res. 20(7), 616–631 (2001)
24. Sato, T., Kano, T., Ishiguro, A.: On the applicability of the decentralized control mechanism extracted from the true slime mold: a robotic case study with a
serpentine robot. Bioinspir. Biomimet. 6(2), 026006 (2011)
25. Schiebel, P.E., et al.: Mitigating memory effects during undulatory locomotion on
hysteretic materials. Elife 9, e51412 (2020)
26. Schiebel, P.E., Rieser, J.M., Hubbard, A.M., Chen, L., Rocklin, D.Z., Goldman,
D.I.: Mechanical diffraction reveals the role of passive dynamics in a slithering
snake. Proc. Nat. Acad. Sci. USA 116(11), 4798–4803 (2019)
27. Tanaka, M., Kon, K., Tanaka, K.: Range-sensor-based semiautonomous wholebody collision avoidance of a snake robot. IEEE Trans. Control Syst. Technol.
23(5), 1927–1934 (2015)
28. Transeth, A.A.: Snake robot obstacle-aided locomotion: modeling, simulations, and
experiments. IEEE Trans. Rob. 24(1), 88–104 (2008)
29. Travers, M.J., Whitman, J., Schiebel, P., Goldman, D., Choset, H.: Shape-based
compliance in locomotion. In: Robotics: Science and Systems (2016)
30. Wu, X., Ma, S.: Neurally controlled steering for collision-free behavior of a snake
robot. IEEE Trans. Control Syst. Technol. 21(6), 2443–2449 (2013)