Snake Robot Based On ROS and V-REP

Author: Chirag Makwana

Pune, Maharashtra, India.

This is my mini Project consist of Design Development and kinematic modeling of modular Snake Robot locomotion that uses ROS for robot programming and V-REP for robot simulation. This robot is developed using 10 Servo motors, each joints consist of one servo motor.

Kinematic Model for robot locomotion gaits:

1. Serpentine
2. Side winding -Left.
3. Side winding -Right.
4. Side winding -Clockwise Rotation.
5. Side winding -Counterclockwise Rotation.

Videos

1. Serpentine https://youtu.be/p8LNVXRu_hg
2. Side winding https://youtu.be/Jq2VSU0Upp4
3. Side winding Rotation. https://youtu.be/qEEdgViXngY

Robot Videos

Side winding: https://youtu.be/QCuxJ4cwbyA Serpentine: https://youtu.be/kA5t5x2HzbM