https://github.com/rkommx/snake_robot

Simscape model of a snake-like robot
https://github.com/rkommx/snake_robot

matlab simscape simscape-multibody simulink

Last synced: 8 months ago
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Simscape model of a snake-like robot

• Host: GitHub
• URL: https://github.com/rkommx/snake_robot
• Owner: RKommX
• License: mit
• Created: 2024-12-05T15:55:24.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-10-08T04:59:58.000Z (8 months ago)
• Last Synced: 2025-10-08T07:06:32.439Z (8 months ago)
• Topics: matlab, simscape, simscape-multibody, simulink
• Homepage:
• Size: 424 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Snake-like Robot Modelling and Navigation

[Project Description](https://github.com/mathworks/MATLAB-Simulink-Challenge-Project-Hub)

## Project Details

This repository contains a Simscape Multibody model of a snake-like robot. It has 6 links and is controlled by the LOS guidance law to move in a straight line. The serpenoid curve equation was used to govern its gait pattern.

## How to run

To run the model, Simscape Multibody is needed to solve the kinematics. Before running the .slx file, make sure the Parameters.mat file is downloaded.

## References

[https://github.com/user-attachments/files/18094584/1-s2.0-S1367578817301050-main.1.pdf]