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We propose a simple mechanical model of locomotion induced by internal forceand friction. We first construct a system of two elements as an analog of thebipedal motion. The internal force does not induce a directional motion byitself because of the action-reaction law, but a directional motion becomespossible by the control of the frictional force. The efficiency of these modelsystems is studied using an analogy to the heat engine. As a modified versionof the two-elements model, we construct a model which exhibits a bipedal motionsimilar to kinesin's motion of molecular motor. Next, we propose a linear chainmodel and a ladder model as an extension of the original two-element model,. Wefind a transition from a straight to a snake-like motion in a ladder model bychanging the strength of the internal force.

Locomotive and reptation motion induced by internal force and friction