Research‎ > ‎Seminars‎ > ‎Seminars 2009‎ > ‎

10.28.2009 - Hu on Snakes

  • Biological diversity
    • Static stability <-Most animals
      • Average size: small (beetle size)
      • Average legs: six
    • Dynamic stability <-Few animals
  • Snake movement
    • Undulation
    • Sidewinding
    • Ratcheting
    • Concertina
  • Most experiments have snakes move through pegs
    • Snakes can move without normal forces to lateral parts of body
  • Snakes change gate based on the friction coefficient of the ground
  • Model employed in the talk assumes sliding friction only (coulomb friction)
  • Snake has very low inertia - when it stops moving it doesn't keep moving
  • The dynamics of the snake were written in terms of the kinematics of the snakes assumed shape
  • Speed is dependent on the ratio of forward-to-sidwards friction coefficient
  • Since friction is the method of motion weight distribution is very important
  • Snakes may also employ "active friction"
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