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A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamicsdoi:10.1109/iros.2009.5354838 dblp:conf/iros/WangMLW09 fatcat:rlxqhlctkjbl7khyjflazxb6ua