The Mechanics of Slithering Motion
by D. Hu, J. Nirody, T. Scott, and M. Shelley

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Snakes use scales to slither: Mathematical model suggests 'sideways' friction is key, Roberta Kwok, NatureNews, 8 June 2009
Snakes' Locomotion Appears a Matter of Scales, Henry Fountain, Observatory, The New York Times, June 06, 2009