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Each module contains a control unit, a micro battery, and two DC motors that drive the module joints. In order to predict robot actions and monitor the state of the robot, the simulation model of SnackBot is built and a virtual environment is established in Ignition Gazebo. The virtual robot and physical robot are synchronously controlled in the environment of the Robot Operating System 2 (ROS2). Finally, experimental results verify the feasibility of the SnackBot. <\/jats:p>","DOI":"10.1142\/s1793962324500302","type":"journal-article","created":{"date-parts":[[2024,3,9]],"date-time":"2024-03-09T15:22:03Z","timestamp":1709997723000},"source":"Crossref","is-referenced-by-count":1,"title":["SnackBot: A modular miniature robot design and simulation"],"prefix":"10.1142","volume":"15","author":[{"given":"Zhenmin","family":"Chen","sequence":"first","affiliation":[{"name":"Computer School, Beijing Information Science and Technology University, Institute of Smart Manufacturing and Complex Systems (ISMCS), Beijing Information Science and Technology University, Beijing 100101, P. R. 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