My research paper “Limbless Movement Simulation with a Particle-Based System” published in the scientific journal Computer Animation and Virtual Worlds:
https://onlinelibrary.wiley.com/doi/abs/10.1002/cav.1795
This paper presents a novel approach to limbless movement simulation. Our method uses position‐based dynamics to build the simulation framework. The limbless movement is based on the formulation of a friction constraint to model the behavior of a snake’s scales. In our approach, it is easy to solve collisions between objects and self‐collisions for simulated snakes. We present several simulation scenarios showing the high‐quality results of our system.
This paper is based on my previous work presented at the i3D 2015 symposium in San Francisco, CA:
https://bartlomiejwaszak.wordpress.com/snake-locomotion-using-position-based-dynamics/
Bartlomiej Waszak 