Amazing!!! In India, many a times kids are falling into the bore wells and die. There is no proper method to bring out the child alive. I hope one day this pole climbing or tree climbing snake robot shown (at 11:38/12:23 instant ) kind of thing will do rescue operations and save the kids. May be it can wind around the child , hold him carefully and slowly climb along the walls of the bore well and pull the child up safely.
Thanks for uploading all this detail. FWIW I wonder if the portion of the snake which is pushing against the ground is the middle section which is moving backward due to lack of grip at 2:15. It looks like at 3:22 that you might be able to further refine the scales. Maybe fewer of them so that each would apply greater downward pressure. But taking a further clue from 2:15, maybe the grip is needed when the segment is moving partly sideways as well as back, not backwards alone. The segment direction at 3:22 does seem to have a large sideways component. Anyway, just some idle guesses based on very little information after putting far less thought into it then you have. The snake already moves great with the wheels. Awesome work.
I think you right in saying I need to experiment a bit more with the scale geometries. When rewatching the footage while editing I noticed that at 3:22 the snake mostly "glides" over the carpet hairs instead of hooking. The fibres are more compact than I initially anticipated, but with fewer scales and additional weight on the snake in the form of batteries, the scales might engage with the surface more. Another good point is that "maybe the grip is needed when the segment is moving partly sideways as well as back, not backwards alone", to resolve this maybe I could make scales that change shape like in the Harvard video instead of passive scales. Although I am not too sure how I could make scales that move without lots of additional actuators.
I wonder if something about the sideways movement itself could do the work of making the scales change shape? I'm thinking of some sort of mechanism which swivels the scales. Of course it's easy to think about these things sitting at a keyboard, much harder in practice.
I like the idea of a mechanism that changes the angle of the scales as the snake moves without additional actuators! Perhaps 3D printing the scales onto elastic fabric that can deform and move might prove more successful. Similar to the process in this video: ruclips.net/video/CjH5KGw3Psw/видео.html Time to start prototyping!
Dude- this robot is awesome! Really suprised how fast it moves (perhaps I shouldn't be given how much current it sucks back though) and how able it seems to be at turning left and right. Wasn't expecting it when I was watching, but I like how at 9:10 you came up with "striking mode" :D . As someone who has been watching entirely too many battlebots videos, I gotta ask- using the 1D snake, and a "tail whip" with all the servos at once- d'you think that would cause some damage? 10 servos is, well, a lot, and I imagine that would add up if you moved them all at once. The physics of snakes are very facinating- I had no idea that's what scales were for, defo seems like an interesting modelling challenge.
Thank you! Regarding a tail whip, yes with some modification the snake could do a tailwhip but the damage would be minimal. The issue comes down to momentum and friction. While the speed is relatively fast the robot is quite light (although "light" is a relative term) and so the momentum/impulse would not cause significant damage. Secondly, is the issue of friction, if the snake was on wheels when it whips it would just push itself away from the thing it is attacking. If however there was higher friction between the snake and the ground (for example, removing by the wheels) then the impact would be more significant.
Flex sensor robotic glove + robotic/prosthetic arms... with additional modifications (licro suit? I don't know) body armor (for spine) and additional arms, I hope this comment reaches you and I can explain more ... four arms, I'm saying 4 arms and body armor to hide the wiring
Thanks for asking that, I realized I failed to upload the .stl file to my github. It is now available at: github.com/WillDonaldson/Robotic-Snake/blob/master/2D%20Snake%20Components/Servo%20Base%20Plate.stl
In 1d snake with the help of servos you have made the snake like motion but I am not able to understand how the snake is going forward without any power to the wheels and can you share the pic of how wheels are attached
as you have mentioned the wheels are rigidly attached with no power to them (as seen at 3:36 - 3:43). The motion comes from the sinusoidal wave in the body of the snake. The snake rolls in the opposite direction to the wave propagation. speaking through analogy, the snake is driven forward in a similar way to how rollerbladers move by pushing the wheels on their skates outwards
Hallo Will, thank you so much for your hard work and sharing! May I know that is there still the problem about the scaling if I am going to print the stl file that you shared directly. Thank you so much!
Hi friend, will you able to help in designinging a robatic equipment which rescue kids from borewell pipes.. sadly a 2yrs old kid was fell down under the borewell in India and all the rescue action were failed. It would be greatly appreciated if you contribute any rescue robotics invention to the world!
Maybe its not just the body. its how the motors are moving which could be important too!!! (woops sorry for getting too excited.) imo the tentacle is the first form for an animal, but someone might disagree with me... maybe the blob comes before it. please continue, this is much fun entertainment.
You made this open source? Youre my new favorite person
Amazing!!! In India, many a times kids are falling into the bore wells and die. There is no proper method to bring out the child alive. I hope one day this pole climbing or tree climbing snake robot shown (at 11:38/12:23 instant ) kind of thing will do rescue operations and save the kids. May be it can wind around the child , hold him carefully and slowly climb along the walls of the bore well and pull the child up safely.
Looking forward to see the the improvement of electrical supplement
Thanks for uploading all this detail.
FWIW I wonder if the portion of the snake which is pushing against the ground is the middle section which is moving backward due to lack of grip at 2:15. It looks like at 3:22 that you might be able to further refine the scales. Maybe fewer of them so that each would apply greater downward pressure. But taking a further clue from 2:15, maybe the grip is needed when the segment is moving partly sideways as well as back, not backwards alone. The segment direction at 3:22 does seem to have a large sideways component.
Anyway, just some idle guesses based on very little information after putting far less thought into it then you have. The snake already moves great with the wheels. Awesome work.
I think you right in saying I need to experiment a bit more with the scale geometries. When rewatching the footage while editing I noticed that at 3:22 the snake mostly "glides" over the carpet hairs instead of hooking. The fibres are more compact than I initially anticipated, but with fewer scales and additional weight on the snake in the form of batteries, the scales might engage with the surface more.
Another good point is that "maybe the grip is needed when the segment is moving partly sideways as well as back, not backwards alone", to resolve this maybe I could make scales that change shape like in the Harvard video instead of passive scales. Although I am not too sure how I could make scales that move without lots of additional actuators.
I wonder if something about the sideways movement itself could do the work of making the scales change shape? I'm thinking of some sort of mechanism which swivels the scales. Of course it's easy to think about these things sitting at a keyboard, much harder in practice.
I like the idea of a mechanism that changes the angle of the scales as the snake moves without additional actuators! Perhaps 3D printing the scales onto elastic fabric that can deform and move might prove more successful. Similar to the process in this video: ruclips.net/video/CjH5KGw3Psw/видео.html
Time to start prototyping!
That's very interesting about how the scales work in real snakes - kind of like a brushbot.
really cool robot snake
Dude- this robot is awesome! Really suprised how fast it moves (perhaps I shouldn't be given how much current it sucks back though) and how able it seems to be at turning left and right. Wasn't expecting it when I was watching, but I like how at 9:10 you came up with "striking mode" :D . As someone who has been watching entirely too many battlebots videos, I gotta ask- using the 1D snake, and a "tail whip" with all the servos at once- d'you think that would cause some damage? 10 servos is, well, a lot, and I imagine that would add up if you moved them all at once.
The physics of snakes are very facinating- I had no idea that's what scales were for, defo seems like an interesting modelling challenge.
Thank you! Regarding a tail whip, yes with some modification the snake could do a tailwhip but the damage would be minimal. The issue comes down to momentum and friction. While the speed is relatively fast the robot is quite light (although "light" is a relative term) and so the momentum/impulse would not cause significant damage. Secondly, is the issue of friction, if the snake was on wheels when it whips it would just push itself away from the thing it is attacking. If however there was higher friction between the snake and the ground (for example, removing by the wheels) then the impact would be more significant.
Man . You are really really underrated
Try using a tyre tube to generate more friction
Flex sensor robotic glove + robotic/prosthetic arms...
with additional modifications (licro suit? I don't know) body armor (for spine) and additional arms, I hope this comment reaches you and I can explain more
... four arms, I'm saying 4 arms and body armor to hide the wiring
Hi Will, dreat proyect. You can use one way bearings instead of scales for your inchworm. There are small ones for RC cars.
Thanks for the tip, I was unaware that one way bearings existed, but they provide the motion I am looking for!
That's what I have in mind for a inchworm project ... which I've never started… Looking forward for your progress.
Good job, you have the base of serbo case in 3d file ?
Thanks for asking that, I realized I failed to upload the .stl file to my github. It is now available at: github.com/WillDonaldson/Robotic-Snake/blob/master/2D%20Snake%20Components/Servo%20Base%20Plate.stl
WOW you are GENIUS man :)
Well done!!!
In 1d snake with the help of servos you have made the snake like motion but I am not able to understand how the snake is going forward without any power to the wheels and can you share the pic of how wheels are attached
as you have mentioned the wheels are rigidly attached with no power to them (as seen at 3:36 - 3:43). The motion comes from the sinusoidal wave in the body of the snake. The snake rolls in the opposite direction to the wave propagation. speaking through analogy, the snake is driven forward in a similar way to how rollerbladers move by pushing the wheels on their skates outwards
Hallo Will, thank you so much for your hard work and sharing!
May I know that is there still the problem about the scaling if I am going to print the stl file that you shared directly.
Thank you so much!
Hi friend, will you able to help in designinging a robatic equipment which rescue kids from borewell pipes.. sadly a 2yrs old kid was fell down under the borewell in India and all the rescue action were failed. It would be greatly appreciated if you contribute any rescue robotics invention to the world!
Maybe its not just the body. its how the motors are moving which could be important too!!! (woops sorry for getting too excited.) imo the tentacle is the first form for an animal, but someone might disagree with me... maybe the blob comes before it. please continue, this is much fun entertainment.
I like it ! awesome you are genius!
which software you used to build 3d models
Fusion 360
robotic danger noodle
💚 nice nice
Michael Jackson snake
You are great,super can you please make battery pack
It's definitely a project I want to keep working on, I'll be sure to include a battery pack in version 2
Will Donaldson waiting for it good luck for your projects
Will, another awesome project! We'll be sure to share on our blog and channels. Any chance you can upload tutorial to Hackster.io as well?