The motion of a multiline system along a horizontal plane

The possible motions of a plane multilink system along a horizontal plane are investigated. Forces of dry friction act between the multilink system and the plane, obeying Coulomb's law. The multilink system is driven by internal control torques acting at the joints connecting the links. Control methods are constructed that ensure motion of the multilink system as a whole in any given direction. The velocity of these motions is estimated. The forms of motion found can serve as a model of the movement of snakes and other animals, and can also be used in designing snake-like robotic systems. (C) 2000 Elsevier Science Ltd. All rights reserved.