The page provides an interactive sandbox for exploring and providing intuition
for the behavior of a snake as it adapts its gait in terrains of various nature.
On the right you can access a drop-down menu for choosing a behavioral
archetype of the snake.
If you want more fine-level control, you can utilize sliders to change dynamical
parameters. To access the physical meaning of these parameters, please
hover over the underlined text.
Initialization takes 10--30s to load
First simulation takes longer
Choose snake behavior archetype
Physical parameters
Friction ratio
Ratio of friction between the lateral and forward directions
\(\mu_t / \mu_f\) =
Froude number
Non-dimensional number representing the ratio of inertial to friction forces
\( Fr\) =
Lateral wave
Activation :
Activation function
Function for the imposed (active) curvature of the snake body
\(\kappa (s,t) \) \( \)
Amplitude
Lateral wave amplitude
\( \epsilon\) =
Wavenumber
Some arbit text
\( k \) =
Test
Lifting Wave
Lift :
Lift function
Function imposing the lift of snake body from the surface
\(\hat{N} (s,t) \) \( {} \)
Amplitude
Amplitude of the lift function
\( A \) =
Wavenumber ratio
Ratio of wavenumbers between the lift and curvature wave
\( \lambda = k_l / k \) =
Phase
Phase difference between lift and curvature wave