  This paper proposes Gait Decomposition (G.D), a method of mathematically
decomposing snake movements, and Gait Parameter Gradient (GPG), a method of
optimizing decomposed gait parameters. G.D is a method that can express the
snake gait mathematically and concisely from generating movement using the
curve function to the motor control order when generating movement of snake
robot. Through this method, the gait of the snake robot can be intuitively
classified into a matrix, as well as flexibly adjusting the parameters of the
curve function required for gait generation. This can solve the problem that
parameter tuning, which is the reason why it is difficult for a snake robot to
practical use, is difficult. Therefore, if this G.D is applied to snake robots,
various gaits can be generated with a few of parameters, so snake robots can be
used in many fields. We also implemented the GPG algorithm to optimize the gait
curve function as well as define the gait of the snake robot through G.D.
