A method for snake robot navigation, the method including: providing a snake robot comprising a plurality of modules and a plurality of tactile sensors disposed thereon; planning a path over a terrain between an initial position and a target location; detecting a tactile datum from the plurality of tactile sensors; selecting, based on the path, one of a plurality of gaits the snake robot may perform by relative movement of the plurality of modules; dynamically adjusting the selected gait based on the tactile datum; and commanding the plurality of modules to perform the adjusted gait.