snake-robot

A 7-DoF snake robot, using dynamixel MX-28AR, ROS Control.

Implementation of Snake locomotion mechanisms on the derived Simplified Kinematical Model of discrete Snake Robot in MATLAB.

A Moduler Snake Robot Based On ROS and V-Rep

OPPAS: OPen-source PArametric Snake-robot

Simulation of different natural and artificial gaits of a snake in ROS using ROS control

The aim of the project is to understand the dynamics of underwater robots in general and the effect of lift, drag and hydrodynamic coefficients on them and to simulate, validate and develop a snake-like robot which is robust enough to carry out underwater exploratory tasks.

ESP32-powered modular snake robot with 8+ motion gaits, Bluepad32 gamepad control, ToF sensors, and autonomous navigation. Arduino-based locomotion system with 10 DOF.

7-joint bioinspired snake robot for pipeline inspection - ESP32 serpenoid gaits, FEA-validated 3D-printed design, live YOLOv8/TFLite defect detection dashboard (mAP@50 83%)

Seven-segment teleoperated snake robot with a serpentine gait.

Snake Robot using Adruino mega , IR sensor , ESP 32 CAM

This project extends the ACMR Snake Robot with obstacle avoidance in CoppeliaSim. Using a proximity sensor, the robot detects objects within 0.4m and adjusts its vertical joints to respond dynamically. The system ensures smooth movement while avoiding collisions.

Physics-informed RL for snake-robot gait optimization in MuJoCo — an LSTM agent tunes serpenoid wave parameters instead of raw joint torques, for far more energy-efficient locomotion.