Abstract
The different locomotion gaits and physiology of biological snakes make them extremely adaptable to a given environment. The robustness and stability of snake locomotion is due to large degree of freedom. This makes biommicing its locomotion extremely difficult as the system becomes non-linear, leading to complexities in design and control. The objective of this paper is to model a snake like robot and simulate lateral undulation gait using bond graph technique. The bond graph technique only requires kinematics of the model and derives the dynamics itself. The snake robot modelled here has nine links giving it eleven degrees of freedom. Results from the simulation are further discussed.