Frictional Compliance Model Development and Experiments for Snake Robot Climbing Amir Shapiro Mechanical Engineering Dept., Ben Gurion University, Israel Aaron Greenfield, Howie Choset  Robotics Institute, Carnegie Mellon University, USA A frictional contact model is needed to prevent slip, maintain balance, and provide stability during a robot’s motion The model should be both accurate and simple enough to allow robotic system analysis We propose a simple parametric contact model, based on the form of the Hertz-Walton model Experimental results show that this model can be used for linear and near-linear loading paths We briefly discuss the applicability of the presented contact model for snake robot climbing Gum Rubber Gum Rubber Force Sensor Pushing Plate NEAT 310 Experimental setup