Biomorphic Hyper-Redundant Snake Robot: Design, Prototyping, and Locomotion Performance Demonstration
Electrical and Biomedical Engineering
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This thesis focuses on the design, construction, and control of a roboticsnake. Relevant theoretical and practical aspects of the mechanical,electrical, and algorithmic design of the robot are described. Mechanically, therobot is a modular multi-segment mechanism, in which each segment is a 2-DOF (two degrees-of-freedom) universal joint driven by two motors. Most ofthe structural and mechancal parts were designed in Solidworks and 3D-printed, while others were standard off-the-shelf components such as screwsand bearings. The motors are RC servo motors. The angular displacementcommand for each servo motor is calculated by a central pattern generatorfrom a vector of motion parameters. These parameters are transmittedwirelessly from a handheld device to the robot. By varying the motionparameters, the robot is capable of several modes of locomotion, includingslithering forward or in reverse, steering to either side, rolling sideways, orside-winding sideways.