The undulatory motion of a chain of particles in a resistive medium

The motion of a finite chain of identical bodies along a straight line in a resistive medium is studied. The major aim of this study is to investigate the fundamental properties of such systems, in particular, their ability to move from a state of rest and sustain the motion at constant average velocity in media with different resistance properties and the influence of the control strategy on the motion. The motion is excited and controlled by changing the distances between the bodies of the chain. For a given friction law, the necessary and sufficient conditions for the system to be able to move from rest are established.