Snakes perform many kinds of movement adapted to different environments. Utilizing the snake as a model, we have developed a two-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope of the environment, in this study we discuss the influence of the gradient of a slope on the creeping locomotion of the robot and derive optimal creeping locomotion curves that adapted to the given slopes.
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Ma et al. (2006) studied this question.
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