Model and control bio-inspired snake-like robots using MATLAB's Robotics System Toolbox. This project implements serpentine locomotion algorithms for confined space navigation and obstacle traversal. The tutorial covers kinematic chain modeling, gait pattern optimization, and contact force analysis. Learn to simulate different undulation patterns, design compliant controllers, and integrate sensory feedback for adaptive movement. The package includes URDF models for various snake robot configurations and benchmark tests comparing efficiency metrics across terrain types.