We want to use a hyper-redundant snake-like robot arm to assist a human working in tight spaces on tasks like caulking or pipe assembly. For the safety of the human worker, the actuators on the arm have low torque limits; however, this prevents the arm from cantilevering its entire length. To get around this, our goal is to develop a planner to make the arm brace against the environment. We can then use contact forces to offset the low torque limits, allowing the arm to reach deep into the confined space.