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The locomotive dynamics of the Active Cord Mechanism (creeping dynamics) the morphology of creeping movements the kinematics of regular creeping motion adaptive functions of creeping motion creeping motion in rough terrain artificial creeping motion as performed by the active chord mechanism the locomotion and control of an Active Chord Mechanism with tactile sense development of the ACM as a gripper development of the ACM as a manipulator development of ACM as a locomotive engine. Appendices: observations of gliding tracks anatomical configuration of the snake body.
A 1994 study studied this question.