The collective motion of a pure octupole deformed system is treated as the vibrations in body-fixed frame and rotation of this system about the axes of lab-system,as well as the coupling between vibrations and rotation.

A general formalism is given for the collective motion in a system with general multipolar deformations, which is treated as vibrations in body fixed frame and rotation of whole system about the axes of Lab system, as well as the coupling between vibrations and rotation.

The literary language is not the result of optional word by the people but is the outcome which is stipulated and restricted by own“collective model”.

Then a kind of motion model is designed and an instance of Vega class is created to manage the device, through which the specified device is introduced in the scene simulation application based on Vega.

This paper introduces the methods to define user defining motion model (UDM), and steps to realize UDM in Vega.

Three locomotion modes are presented,i.

This paper discusses the three typical locomotion modes of biological snakes, and describes the development of a snake like robot with three dimensional mobility.

This paper expounds the motion principle of snakes in the view of biomechanics, presents a design of snake like mini robot and gives a basic motion pattern of the robot.