Patent ID: 8899359

Claim:
A method for traversing an area under a flexible object with a serpentine body that includes a plurality of portions including a first portion and a second portion positioned aft of the first portion, said method comprising: positioning a front end of the body in a desired direction; and moving the serpentine body by actuating the first portion to be in a first configuration and the second portion to be in a second configuration, wherein moving the serpentine body further comprises: rotating at least a first wheel coupled to the first portion in a first direction; rotating at least a second wheel coupled to the second portion in a second direction that is opposite the first direction; axially expanding the first portion, wherein there is friction between the first portion and the flexible object; using a friction mechanism coupled to the first portion to increase the friction between the first portion and the flexible object to maintain a position of the first portion relative to the flexible object; and axially contracting the second portion.