Fig. 4.

(a) Snapshots of the ortho-snake’s bending motion in the free-environment experiments taken by the overhead camera. To ensure repeatability, each experiment included various cycles of bending in one direction, short stay at the bending configuration, and subsequently a return to the initial straight position. This scenario is also repeated in the opposite bending direction. (b) Snapshots of the ortho-snake’s bending motion in the obstructed environment experiments taken by the overhead camera. To ensure repeatability, each experiment included various cycles of bending and colliding with the obstacle [23].