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