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Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. A large number of research groups have developed snake-inspired robots to exploit these benefits. The purpose of this paper is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. For each category, we discuss their relative advantages anddoi:10.1088/1748-3182/4/2/021001 pmid:19158415 fatcat:43k7lvfco5hbhdnxqn4u2olojq