Energy efficient locomotion is critical for
untethered snake robots. Despite enhancements in the
development of snake robots in terms of modelling and control,
a little attention has been given to find optimal locomotion for
the snake robot. In this paper, symbiotic organism search
algorithm is used to generate the optimum gait parameters for
a wheel-less snake robot both minimizing the average power
consumption and maximizing the forward velocity of the robot.
The obtained results demonstrate that the proposed method
achieves satisfying results regarding power consumption
reduction with optimal forward velocity for lateral undulation
motion. Therefore, the paper indicates that the proposed
method is an efficient and practicable technique for finding
optimum gait parameters and could be helpful for control
design of the snake robot.