ربات شناگر
ShahBaz | پنجشنبه, ۱۵ مرداد ۱۳۹۴، ۱۱:۴۹ ب.ظ
urethane flex tubing, microcontrollers, Zigbee wireless radio, hose
clamps, wires, servo motors, titanium servo brackets, silicon, marine
grease, epoxy
Sneel is a series of swimming robotic water-snakes, constructed to explore lifelike, sinuous motion in an aquatic robot. It is designed to navigate unknown territory and extreme terrain.
Sneel is an open-source, biomimetic, locomotive, aquatic robot. The electromechanical design of Sneel mimics the structure and motion of a real water snake, as a test to explore swimming behavior in an undulating linear robot. The inspiration for Sneel originates from a fascination with reptilian forms of motility and the implications of modelling hardware from biological structures and functions. Sneel uses a custom-written software library to propagate an oscillating wave down a line of servo motors that comprise the robot’s body. The current model is a platform for the development of other low-cost snake drones, with semi-autonomous navigational control for waypoint following, and sensing capabilities for obstacle avoidance. Worldwide applications for Sneel include remote marine data collection of salinity / toxicity levels, nuclear level monitoring, pipeline or underwater exploration, fishery monitoring, and oil-collection.
SNEEL at TEKS Meta.Morf Trondheim Electronic Arts Biennial, Norway 2012
SNEEL at TRANSNATURAL Festival, NEMO Center, Amsterdam
SNEEL on Instructables:
My experience building SNEEL as Artist in Residence at Instructables
SNEEL_001 at Instructables
SNEEL_003 at Instructables [viewed by over 47K users]
Final slide presentation at Instructables
videos
pictures
Thanks to Seeed Studio.
Protei_007a built December 2011
The Story:
Sneel swam in Central park:
The hardware:
Like a real snakes vertebrates:
I used Arduino Mega with multiple servos attached, using multiple 6V NiMh battery packs, placed along the body, with an xbee mounted on top to control three parameters of wave behavior: period, wavelength, and amplitude.
First I stuffed the arduino + xbee into a waterproof sac:
Then I decided that was overkill so I just stuffed everything into the tube (as I had sealed each servo motor with epoxy and had a water tight seal on the tube top and bottom)
See the waterproofed servos:
See wires etc. stuffed in the tube:
The Software:
A diagram of the control firmware and the relationship between the classes:
I wrote an Arduino library called ServoWave to control period, amplitude and wavelength of the oscillation for Sneel’s swimming behavior.
Here is it on github.
See how each servo motor oscillates – in the following graph, I print out values of each servo as each motor rotates in a sine wave slightly out of phase from each other. The x axis is time and the y axis is angle, and each colored line is a different motor.
After getting everything packed up in the tube, I tested Sneel_002 on the floor of ITP.
Sneel in the wild:
Model Shot:
Sneel is a series of swimming robotic water-snakes, constructed to explore lifelike, sinuous motion in an aquatic robot. It is designed to navigate unknown territory and extreme terrain.
Sneel is an open-source, biomimetic, locomotive, aquatic robot. The electromechanical design of Sneel mimics the structure and motion of a real water snake, as a test to explore swimming behavior in an undulating linear robot. The inspiration for Sneel originates from a fascination with reptilian forms of motility and the implications of modelling hardware from biological structures and functions. Sneel uses a custom-written software library to propagate an oscillating wave down a line of servo motors that comprise the robot’s body. The current model is a platform for the development of other low-cost snake drones, with semi-autonomous navigational control for waypoint following, and sensing capabilities for obstacle avoidance. Worldwide applications for Sneel include remote marine data collection of salinity / toxicity levels, nuclear level monitoring, pipeline or underwater exploration, fishery monitoring, and oil-collection.
two sneels from gabriella levine on Vimeo.
Protei_007b, Sneel_002 from gabriella levine on Vimeo.
SNEEL at TEKS Meta.Morf Trondheim Electronic Arts Biennial, Norway 2012
SNEEL at TRANSNATURAL Festival, NEMO Center, Amsterdam
three sneels from gabriella levine on Vimeo.
Sneel 004 from gabriella levine on Vimeo.
SNEEL on Instructables:
My experience building SNEEL as Artist in Residence at Instructables
SNEEL_001 at Instructables
SNEEL_003 at Instructables [viewed by over 47K users]
Final slide presentation at Instructables
videos
pictures
Thanks to Seeed Studio.
Protei_007a built December 2011
The Story:
Sneel swam in Central park:
The hardware:
Like a real snakes vertebrates:
I used Arduino Mega with multiple servos attached, using multiple 6V NiMh battery packs, placed along the body, with an xbee mounted on top to control three parameters of wave behavior: period, wavelength, and amplitude.
First I stuffed the arduino + xbee into a waterproof sac:
Then I decided that was overkill so I just stuffed everything into the tube (as I had sealed each servo motor with epoxy and had a water tight seal on the tube top and bottom)
See the waterproofed servos:
See wires etc. stuffed in the tube:
The Software:
A diagram of the control firmware and the relationship between the classes:
I wrote an Arduino library called ServoWave to control period, amplitude and wavelength of the oscillation for Sneel’s swimming behavior.
Here is it on github.
See how each servo motor oscillates – in the following graph, I print out values of each servo as each motor rotates in a sine wave slightly out of phase from each other. The x axis is time and the y axis is angle, and each colored line is a different motor.
After getting everything packed up in the tube, I tested Sneel_002 on the floor of ITP.
Sneel in the wild:
Model Shot:
