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PreprintarXiv licencearXiv

Bio-inspired control model for snake locomotion based on Cosserat beam theory

  • Eliot Thys
  • Frédéric Boyer
  • Yacine Chitour
  • Petri Kokkonen
  • Vincent Lebastard
  • Swann Marx
  • Clément Moreau
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Abstract

This paper revisits from a mathematical perspective the modeling of locomotion in snake-like bodies in fluid environement as given in \cite{boyer2010poincare} and \cite{boyer2011macrocontinuous}. Using a Cosserat rod theory, we derive several systems of PDEs depending on the type of constraint and actuation.

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Cite

BibTeXRIS
BibTeX
@misc{thys2026bioinspired,
  title = {{Bio-inspired control model for snake locomotion based on Cosserat beam theory}},
  author = {Eliot Thys and Frédéric Boyer and Yacine Chitour and Petri Kokkonen and Vincent Lebastard and Swann Marx and Clément Moreau},
  howpublished = {arXiv},
  year = {2026},
  month = sep,
  doi = {10.48550/arxiv.2609.31036},
  eprint = {2609.31036},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2609.31036},
}
RIS
TY  - UNPB
TI  - Bio-inspired control model for snake locomotion based on Cosserat beam theory
AU  - Eliot Thys
AU  - Frédéric Boyer
AU  - Yacine Chitour
AU  - Petri Kokkonen
AU  - Vincent Lebastard
AU  - Swann Marx
AU  - Clément Moreau
PY  - 2026
DA  - 2026/09/25
PB  - arXiv
DO  - 10.48550/arxiv.2609.31036
UR  - https://arxiv.org/abs/2609.31036
AB  - This paper revisits from a mathematical perspective the modeling of locomotion in snake-like bodies in fluid environement as given in \cite{boyer2010poincare} and \cite{boyer2011macrocontinuous}. Using a Cosserat rod theory, we derive several systems of PDEs depending on the type of constraint and actuation.
ER  -