Abstract: Imitating the swimming of snakes, a simulation model of snake-like robot is developed. The robot can realize serpentine swimming in dynamic water environment in simulation based on a serpenoid curve. The influences of bending angle, number of S-shape wave and changing rate of arc length in serpenoid curve formula on swimming performance are analyzed through experiments. The experimental results show that, in fixed range, with the increasing of the value of bending angle, number of S-shape and changing rate of arc length in serpenoid curve formula, the swimming velocity of the snake-like robot will become larger.