Gait Simulation of Snake Robot Based on ROS

Snake robots have broad application prospects in many fields. Referring to the gait of biological snakes in nature, this paper develops a simulation platform for snake robot models based on ROS (Robot Operating System). First, introduce the advantages of ROS for robot development, and choose the appropriate simulation platform by comparing the advantages and disadvantages of various simulation platforms. Secondly, the kinematics analysis and modeling of the snake robot are carried out. On this basis, the motion path of the snake robot is planned, and the angle changes of each joint of the robot are calculated according to the gait equation of the snake robot. Finally, import the snake robot model file into ROS, write the snake robot gait motion program through the user, and use the Gazebo simulator to simulate the snake robot movement gait.