Animals moving on and in fluids and solids move their bodies in diverse ways to generate
propulsion and lift forces. In fluids, animals can wiggle, stroke, paddle or slap, whereas on …

Abstract Squamate reptiles (around 10,000 species of snakes and lizards) comprise a
myriad of distinct terrestrial vertebrates. The diversity within this biological group offers a …

We present a multi-material three-dimensional-printed snakeskin with orthotropic friction
anisotropy, which permits undulatory slithering of a soft snake robot on rough surfaces. Such …

Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes
move through crevices using sequential folding and unfolding of their bodies in the manner …

Elephants have long been observed to grip objects with their trunk, but little is known about
how they adjust their strategy for different weights. In this study, we challenge a female …

Based on the principles of morphological computation, we propose a novel approach that
exploits the interaction between a passive anisotropic scale-like material (eg, shark skin) …

This paper presents the design and control of a cable-actuated mobile snake robot
composed of modular coupled linkages. The goal of this research is to reduce the size of …

One of the oldest yet most common modalities of locomotion known among limbless animals
is undulatory, also recognized for its stability compared to legged locomotion. Multiple forms …

This research explores the convergence of a 3D printing process with snake-skin-inspired
textures for mechanical traction. The design attributes of snake skin scales were studied via …

For soft crawling robots moving in two-dimensional space, accurate dynamics models are
the basis for control and navigation. However, it is still challenging for nonlinear and low …