Design and Implementation of Nine-segment Wheel-less Snake Robot for Planar Terrain

Ferdinando, Hany and Khoswanto, Handry and EKAPUTRA, DANIEL (2012) Design and Implementation of Nine-segment Wheel-less Snake Robot for Planar Terrain. In: Industrial Electronics Seminar 2012, 24-10-2012 - , Surabaya - Indonesia.

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Abstract

Snake robot is interesting project in robotics. The capability of biological snake to move in unstructured terrain makes the snake robot suitable for Search and Rescue (SAR) operation. This snake robot is constructed with eighteen serial servo motor Dynamixel AX-12A to form nine segment snake robot. The CM-510 from Bioloid is used to control the position of each servo. Since each segment consists of two servo motor, one motor is responsible for vertical rotation and the other for horizontal rotation. The snake robot has no wheels. The locomotion is limited for slithering and sidewinding. For slithering, the robot can move forward and turn left/right. The robot is tested on various ground surface, i.e. ceramics, wood and glass. For the snake forms its body similar to sinusoidal wave, the number of wavelength is evaluated also. From the experimental results, wood is the best ground surface with 1.75 for slithering forward and 1 for slithering left/right. It is also interesting to investigate this snake robot with eight-segment and use ordinary servo motor and general microcontroller. Slithering on ramp is another interesting future works.

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