Abstract: Based on a simplified Serpenoid curve,and the fact that snake-like robot's three-dimensional motion is combined by both of the motions on the horizontal plane and vertical plane,a three-dimensional snake-like robot gait generation method is proposed.Experiments validate the gaits,meanwhile the relationship between the motion control parameters and the features displayed on the snake-like robot's gaits are found.For the novel gait obtained in the experiments,named helical gait,the snake-like robot's three-dimensional playback is realized through kinematical analysis,and the quantitative relationship between the radius of the helix and the control parameters is deduced based on the geometrical constraints of helical gait.