This paper presents an analysis of snake locomotion that explains how non-uniform viscous ground friction conditions enable snake robots to locomote forward on a planar surface. The explanation is based on a simple mapping from link velocities normal to the direction of motion into propulsive forces in the direction of motion. From this analysis, a controller for a snake robot is proposed. A Po...

The snake-in-the-box problem is a difficult problem in mathematics and computer science that was first described by Kautz in the late 1950’s (Kautz 1958). Snake-in-the-box codes have many applications in electrical engineering, coding theory, and computer network topologies. Generally, the longer the snake for a given dimension, the more useful it is in these applications (Klee 1970). By applyi...

An extension of the gradient vector flow snake (GVF snake) is presented. The method is based on combining two other external forces. First, the adaptive balloon force has been developed to increase the GVF snake’s capture range and convergence speed. Then, a dynamic GVF force is introduced to provide an efficient evolution-stop mechanism. In this way, we prevent the snake from breaking through ...

A snake (of length L) is a (continuous) piecewise C1-curve S : [0, L] → R, parameterized by arc-length and whose “tail” is at the origin (S(0) = 0). Charming a snake consists in having it move in such a way that its “snout” S(L) follows a chosen C1-curve γ(t). The snake charmer algorithm, initiated in [Ha2] for polygonal snakes and developed in [Ro] in the general case, works as follows. The in...

This paper considers the problem of generating various calligraphy from some sample fonts. Our method is based on the deformable contour model g-snake. By representing the outline of each stroke of a character with a g-snake, we cast the generation problem into global and local deformation of g-snake under different control parameters, where the local deformation obeys the energy minimization p...

sik,?lviay i draw your attention to the letter from Captain R.Crawford Boyd on a case of Snake Bite in the December number. The letter first came to my notice in the Times of India, and fas it has been made thus public, I think any doubts should be cleared up. I believe that all authorities are agreed that the poison of the common Krait is, bulk for bulk, more virulent that any other Indian sna...

Using snakes to extract buildings from satellite imagery such as IKONOS and Quickbird is an active activity in remote sensing society. Building extraction from satellite imagery has more than 20 years of history but the automated extractions are still undergoing developmental stages due to increasing image variation, required level of details and higher resolution imagery are acquired. This pap...

The true global incidence of envenomations and their severity remain largely misunderstood, except for a few countries where these accidents are rare or are correctly reported. Nevertheless, this information is essential for drawing up guidelines for dealing with snake-bites, to plan drug supplies, particularly antivenin, and to train medical staff on snake-bite treatments. Since the comprehens...

WANG Yang, LI Bin, CHEN Li, LIN Chen (1. Robotics Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016; 2. Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, China) Abstract: Research on snake-like robots expands the fields of application of robots. Based on CAN Bus technologies, we developed a control system for a snak...

This paper describes a fast process of parametric snake evolution with a multiresolution strategy. Conventional parametric evolution method relies on matrix inversion throughout the iteration intermittently, in contrast the proposed method relaxes the matrix inversion which is costly and time consuming in cases where the resulting snake is #exible. The proposed method also eliminates the input ...