Geometric Shape Optimization for Limbless Locomotion

Abstract: 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 non-self-intersecting behavior, bending and torsional energy terms are incorporated into the formulation. The resulting curve is then used to drive a surface representation via interpolation, enabling realistic visualization analogous to skinning techniques. We evaluate the proposed approach across a range of complex scenarios and parameter settings to demonstrate its robustness and versatility. Comparative analysis with state-of-the-art methods indicates that our approach achieves improved simulation quality and generates more physically realistic motion.