- Clone the repo using: $ git clone https://github.com/anubhavparas/snake_robot.git
- $ cd snake_robot/snakebot_ws
- $ catkin_make
- $ source devel/setup.bash
- To spawn the controllers and the model in gazebo: $ roslaunch snakebot snakebot.launch
- To run the gait simulation, for example: to move the snake in the simple linear forward motion:
- Open a new terminal
- Change the directory to /snakebot_ws
- $ source devel/setup.bash
- $ rosrun snakebot linear_progression.py
- https://en.wikipedia.org/wiki/Gait
- https://en.wikipedia.org/wiki/Sidewinding
- https://www.ivlabs.in/uploads/1/3/0/6/130645069/rebis.pdf
- http:https://biorobotics.ri.cmu.edu/projects/modsnake/gaits/gaits.html
- https://userweb.ucs.louisiana.edu/~brm2286/locomotn.htm
- http:https://biorobotics.ri.cmu.edu/research/gaitResearch.php