SnakeSim

Terrain-Aided Proprioceptive Localization for Snake Robots

Michigan Rob530 Final Project by Riley Bridges, Quintin Dwight, Christian Foreman, and Drew Scheffer

Paper | Video | Slides | Poster

Setup

Install the necessary requirements:

$ conda create -n SnakeSim python=3.8
$ conda activate SnakeSim
$ pip install -r requirements.txt

Run the simulation:

Running the Sim

For the Orientation EKF, checkout the main branch For the Position Particle Filter, checkout the pf branch

$ python3 run_sim.py

Commands

• Up/down arrow - Modulate snake speed command in the forward/backwards direction direction
• left/right arrow - Modulate the turn command
• spacebar - reset the gait parameters
• q - quit the simulation and show diagnostic plots

Methodology

For more details, please refer to our paper.