Simscape model of snake robot

For MATLAB Innovation and Excellence Problem Objective: Make a simscape model of the snake robot using the different control approaches.
Task-1: Design the multi-link structure of the snake robot.
Task-2: Define the reference coordinates.
Task-3: Design joint controller.
Task-4: Design a head controller to make the robot path follow.
To run the code, first run "Parameters_Robot_control.mlx" and then "Snake_Robot_Head_Control.slx".
"Snake_Robot_Head_Control_v1.slx" contains the knob that is used for given reference input by the user.
Required Software: MATLAB 2023a with Simulink and Simscape