1 Bio-mechanics of Rectilinear Locomotion 2 Uses of Rectilinear Locomotion 3 In Robotics 4 See also 5 References
Bio-mechanics of Rectilinear Locomotion Rectilinear locomotion relies upon two opposing muscles, the costocutaneous inferior and superior, which are present on every rib and connect the ribs to the skin. Although it was originally believed that the ribs moved in a "walking" pattern during rectilinear movement, studies have shown that the ribs themselves do not move, only the muscles and the skin move to produce forward motion. First, the costocutaneous superior lifts a section of the snake's belly from the ground and places it ahead of its former position. Then, the costocutaneous inferior pulls backwards while the belly scales are on the ground, propelling the snake forwards. These sections of contact propagate posteriorly, which results in the ventral surface, or belly, moving in discrete sections akin to "steps" while the overall body of the snake moves continuously forward at a relatively constant speed. Uses of Rectilinear Locomotion This method of locomotion is extremely slow (between 1–6 cm per second), but is also almost noiseless and very hard to detect, making it the mode of choice for many species when stalking prey. It is primarily used when the space being traversed is too constricting to allow for other forms of movement. When climbing, snakes will often use rectilinear locomotion in conjunction with concertina movements to exploit terrain features such as interstices in the surfaces they are climbing. In Robotics The development of rectilinear movement in robotics is centered around the development of snakelike robots, which have significant advantages over robots with wheeled or bipedal locomotion. The primary advantage in the creation of a serpentine robot is that the robot is often capable of traversing rough, muddy, and complex terrain that is often prohibitive to wheeled robots. Secondly, due to the mechanisms responsible for rectilinear and other forms of serpentine locomotion, the robots tend to have repetitive motor elements, which makes the entire robot relatively robust to mechanical failure. See also
^ a b C. Gans (1986). Locomotion of Limbless Vertebrates: Pattern and Evolution. ^ a b Gray, J. (1946). "The mechanism of locomotion in snakes" (PDF). The Journal of Experimental Biology. 23: 101–120. ^ Gans, Carl (1984). "Slide-pushing: a transitional locomotor method of elongate squamates". Symposium of the Zoological Society of London. 52: 12–26. ^ Bogert, Charles (1947). "Rectilinear locomotion in snakes". Copeia. 1947: 253–254. doi:10.2307/1438921. ^ a b Lissman, H.W. (1949). "Rectilinear locomotion in a snake (Boa occidentalis)" (PDF). Journal of Experimental Biology. 26: 368–379. ^ a b c Marvi, H.; Bridges, J.; Hu, DL. (2013). "Snakes mimic earthworms: propulsion using rectilinear traveling waves". J R Soc Interface. ^ a b Saito, M.; Fukuya, M.; Iwasaki, T. "Modeling, analysis, and synthesis of serpentine locomotion with a multilink robotic snake" (PDF). Forth Institute of Computer Science Internal Publications. ^ Date, Hisashi; Takita, Yoshihiro (2007). "Adaptive locomotion of a snake like robot based on curvature derivatives". Intelligent Robots and Systems. doi:10.1109/IROS.2007.4399635 – via IEEE. ^ Crepsi, Alessandro; Badertscher, Andre; Guignard, Andre; Ijspeert, Auke Jan (2004). "AmphiBot I: an amphibious snake-like robot". Robotics and Autonomous Systems. 50 (4): 163–175. doi:10.1016/j.robot.2004.09.015.
v t e
Animal locomotion on land
Arboreal locomotion (Brachiation) Hand-walking Jumping Knuckle-walking Running Walking
Concertina movement Undulatory locomotion Rectilinear locomotion Rolling Sidewinding Other modes
Comparative foot morphology Arthropod leg Digitigrade Plantigrade Unguligrade Uniped Biped (Facultative) Triped Quadruped
Canine gait Horse gait Human gait
Animal locomotion on the surface layer of water Fish locomotion Volant animals
This snake article is a stub. You can help by expanding it.