Figure 2. The CG of the head, middle and tail segment in the XY plane in configuration 1 [1]

From

Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation

Erik Prada, Alexander Gmiterko, Tomáš Lipták, Ľubica Miková, František Menda

American Journal of Mechanical Engineering. 2013, 1(7), 447-450 doi:10.12691/ajme-1-7-59