{"paper":{"title":"Geometric Shape Optimization for Limbless Locomotion","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.GR","authors_text":"Avirup Mandal, Utpal Khanal","submitted_at":"2026-07-01T07:12:31Z","abstract_excerpt":"The simulation of locomotion in limbless, deformable organisms remains a challenging problem across computer graphics, soft robotics, and computational modeling. In this work, we present a novel differential-geometric framework for modeling the motion of slender soft bodies, such as snakes. The body is represented as a three-dimensional parametric curve using a Fourier-Chebyshev polynomial basis. Motion is computed by solving an optimization problem that determines the interaction between the curve and its environment by estimating polynomial coefficients. To ensure physically plausible and no"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00524","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.00524/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}