Robot Snake Video

I finally got around to editing together a video of my robot snake named
Serpentronic. The goal of this project was to design and build a robot snake
that could move much like its biological counterpart. This robot has the
ability to explore autonomously, avoid obstacles using an infrared sensor
and can also be guided by radio control. A robot snake is ideal for
traversing rough terrain and keeping a low profile. This robot has many
applications such as exploration, reconnaissance missions, remote sensing in
hostile areas, land mine detection, and maintenance work inside narrow
passageways.

                                 SPECIFICATIONS

Length: 28 inches

Height: 2.5 inches Width: 2.5 inches Processor: Microchip Pic 16F84A\20

Sensor: Single channel infrared mounted on head

Construction: Light weight Aluminum. 6 body segments plus head and tail

Actuators: 6 Standard R/C servos

Power source: one 9-volt and 6-volt battery packs

Notes: The robot has the ability to scan the area for obstacles in front, and

to its sides by lifting the first segment and then moving the head from side to

side while taking sensor readings.

                                 LOCOMOTION

The snake consists of 6 segements and a head, with each segment
being powered by an R\C servo. The segments alternate in orientation so that
the first segment moves in a horizontal direction and the next segment moves
in a vertical direction. This sequence repeats itself for all 6 segments and
the head. This gives the snake enough flexibility to move its body segments
through sequences that achieve locomotion in much the same way that a
biological snake does. The microcontroller is used to sequence the movement of
each of the body segments via servos. To produce a forward movement, the snake
moves its body in a sine wave pattern vertically with a slight side to side
movement of the horizontal segements. When the robot is turning, the same sine
wave pattern occurs in the vertical moving body segments but the snakes body
will also need to oscillate between the middle position and a position where
the body is arched to the left or right, depending which way it is turning.
Rubber gripper pieces were added to the underside of the snakes body to give
it resistance against the ground.

This is one of the robots featured in my book titled, "Amphibionics: Build Your
Own Biologically Inspired Robot", published by McGraw-Hill. For more information
check out http://www.thinkbotics.com/serpentronic.htm

Karl Williams

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