Figure 1. 3D model of LocoSnake link a) +90º b) 0º c) -90º d) 50 (mm) protrusion of every segments

From

Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe

Ivan Virgala, Michal Kelemen, Martin Hagara, Erik Prada, Tomáš Lipták

American Journal of Mechanical Engineering. 2016, 4(7), 297-305 doi:10.12691/ajme-4-7-13