Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”

来源：机器人杂志2015年第2期北京时间：

作者：LIU Jinguo, GAO Yang, WANG Yuechao, MA Shugen, LUO Yifan

摘要：Marvi et al (Science, 2014, vol.346, p.224) concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle increases. They also claimed the same principle should work on robotic snake too. We have evidence to prove that this conclusion is only partial in describing the snake body-sand interaction. There should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes, namely lifting, descending, and ceasing. The snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.

关键词：snake robot, sandy slope, locomotion