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