This paper investigates the controllability properties of planar snake robots influenced by viscous ground friction forces. The paper provides three contributions: 1) A partially feedback linearized model of a planar snake robot is developed. 2) A stabilizability analysis is presented proving that any asymptotically stabilizable control law for a planar snake robot to an equilibrium point must be time-varying. 3) A controllability analysis is presented proving that planar snake robots are not

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... ntrollable when the viscous ground friction is uniform, but that a snake robot becomes strongly accessible when the viscous ground friction is non-uniform. The analysis also shows that the snake robot does not satisfy sufficient conditions for small-time local controllability (STLC). Pal.Liljeback@sintef.no