Postural control in an upright snake

Posture and its control are fundamental aspects of animal behavior that capture the complex interplay between sensorimotor activity driven by muscular forces and mediated by environmental feedback. An extreme example of this is seen in brown tree snakes and juvenile pythons, which can stand almost upright, with 70% of their body length in the air. We quantify experimental observations of this behavior and present a minimal theoretical framework for postural stability by modeling the snake as an active elastic filament whose shape is controlled by muscular forces. We explore two approaches to characterize the musculature needed to achieve a specific posture: proprioceptive feedback (whereby the snake senses and reacts to its own shape) and a control-theoretic optimization approach (whereby the snake minimizes the expended energy to stand up), and also analyze the dynamic stability of the snake in its upright pose. Our results lead to a three-dimensional postural stability diagram in terms of muscle extent and strength, and gravity, consistent with experimental observations. In addition to general predictions about posture control in animals, our study suggests design principles for robotic mimics.