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This work seeks to improve the knowledge surrounding geometric snake swimmers through both theoretical and practical means. To begin, manufacturing techniques for a silicon-based pneumatic actuator were validated through experimentation. When inflated, the actuators exhibited an unanticipated elongation. In an attempt to confirm theoretical displacement predictions, a more accurate dynamic model was created which included curvature-coupled extension. The resulting model was simulated with varying degrees of extension and corresponding optimized gaits. Results suggest that the pneumatic actuator’s efficiency does improve, although serpenoid systems used as a baseline comparison decreased in efficiency when extension was added. For the second stage of this work, it was assumed that a system’s theoretical model would be either completely unknown or unreasonable to calculate, thus another motion prediction method would be required. This method, referred to as Data-Driven or Empirical Local Connection Derivation, requires the system to execute a gait which adequately spans the desired shape space while its position and velocity are tracked through motion capture. This process is demonstrated using two different locomotors. Finally, these methods are integrated into a continually updated MATLAB extregistered {} graphical user interface (GUI) titled Geometric System Plotter. The aim of this software is to provide geometric system evaluation techniques without requiring background knowledge in geometric mechanics. In addition to the projects described here, other tools and general performance improvements have …