Andrey U.  Aleynikov, Andrey N.  Afonin, Maria A.  Sitnikova, Andrey R.  Gladishev, A. Anastasiya V.  Popova, 
    Modeling of Serpentine Device Mechanics for Pipeline Inspection,
    Journal of Engineering and Applied Sciences,
    Volume 12,Issue 4,
    2017,
    Pages 1009-1012,
    ISSN 1816-949x,
    jeasci.2017.1009.1012,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2017.1009.1012)
    Abstract: The researchers simulated the mechanical design of a snake-like diagnostic device by their own
design. The proposed model can be used in the development of a robot movement control algorithms and its
interaction with obstacles.
    Keywords: Snake-like robot;mathematical model;link;the center of weights;interaction