This　work　presents　a　butterfly　spiral　propulsion　mode　of　snake　robots　to　realize　the　tracking　control　on　the　objective　trajectory　in　multiple　scenarios.　This　method　investigates　the　force　mechanism　of　each　body　element　in　the　yaw　and　pitch　directions.　The　butterfly　spiral　gait　mechanic　and　friction　models　are　constructed　to　offset　the　lateral　torque　force　caused　by　joint　rotation.　In　addition,　this　work　combines　an　integral　part　of　improving　the　line　of　sight　guidance　scheme,　which　eliminates　the　robot＇s　sideslip　when　tracking　the　curve　track　and　enhances　the　body＇s　adaptability　to　different　scenarios.　Lyapunov＇s　theory　proves　the　stability　of　the　designed　guidance　strategy.　Simulation　and　experimental　results　illustrate　that　the　designed　butterfly　spiral　gait　and　guidance　scheme　can　provide　the　snake　robot　faster　tracking　results　and　more　stable　error　performance　than　the　cylindrical　and　conical　spiral　gait.　　©　2005-2012　IEEE.