“…In order to solve the locomotion problem, we need to find the unknown functions N (s, t), H(s, t), f (s, t), together with s 0 (t) and k(s 0 (t) + s). The three equations of motion and the three boundary conditions (35) are sufficient to solve this problem uniquely. This leads to a unique solution also for r and θ, once the initial position r(0, t 0 ) and orientation θ(0, t 0 ) of the first end are prescribed, by integrating the equations θ s = k and r s = Γ as done, e.g., in [15,16].…”