Snake Robot(Motion test)
Slithering motion & environment scanning configuration.
The robot slithers forward by propagation of square wave.
Snake Robot specifications:
16 DOF
Motors: Regular analog metal gear dual shaft servo motors, 18.2 Kg-cm stall torque, 1900mA stall current, 8.4 V max. operating voltage, 59 g each, 180 degrees rotation
Aluminium motor brackets
Controller: Arduino UNO
Servo Driver: Adafruit PWM servo shield, 16 channel(can control max. 16 servos), 12 bit, I2C interface
Battery: 1550 mAh, 20C, 7.4 V Li-Po
Link to STL file for arduino case: https://onedrive.live.com/redir?resid...
Check out other motions that the robot can perform: • Snake Robot
This project was developed at Artificial Intelligence & Mechatronics (AIM) lab, School of Mechanical Sciences, IIT Bhubaneswar. Special thanks to my mentor Dr. Pandu Ranga Vundavilli for his guidance & support in this project.