Nagaina The Snake Robot

Nagaina is a twelve degree of freedom snake robot designed, built, and programmed by me. Nagaina's kinematics allow for autonomous or manual control schemes. The head contains three sonar and one IR sensor for detecting dangers (obstacles or falls). The passive wheels are on small springs to insure that contact with the ground is made at all segments. Unfortunately, due to high torque on the servos, Nagaina has a run-time of about 45 minutes between recharges. The total cost of the project came to about 600 to 700 dollars ( hard to estimate since I used spare parts from previous projects). Nagaina took one day to program from scratch.

FYI, Nagaina is named for the villainous mother-cobra from one of my favorite stories, Rikki-Tikki-Tavi, by Rudyard Kipling.

Category:

Science & Technology

Tags:

• Snake
• Kinematics
• Robot
• Robotics
• animatronics
• electronics
• math
• autonomous
• halloween

[Celes37]

Are the wheels passive ? Or the first one is active ?

[WGhost9]

@Celes37 they are all passive

[turtleD90]

Great robot, I was wondering if the robot still works if you take the wheels out?

[WGhost9]

@turtleD90 No without wheels it just moves in place. The difference between latitudinal and longitudinal friction is key to this snake.

[Celes37]

@WGhost9 Did you think about some ball bearings around the body to replace the wheels ? Maybe not easy to customize but I think that it should make it even more scary. Anyway, your bot is really awesome.

[jjc12300]

you study physics and robotics is your hobby? wow...if I was this brilliant at anything...but I am not.

cool bot! :D

[ZentaOlbaid]

Awesome work! I love the smooth movement of it. :)