Evan's Bio-Inspired Robot Design (Fall 2006) Course Project

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I will be implementing a lego robot that mimics the unusual form of locomotion exhibited by the sidewinder (Crotalus cerastes) rattlesnake.

Original idea

One of the interesting aspects of the sidewinder's movement is that the number of bodyparts touching the hot sand is minimized. At first I wanted to mimic this by having a long cylindrical robot propelled by a series of rods protruding orthogonally to each other. Here is a detailed schematic:


Unfortunately, this approach proved cumbersome to implement using legos.

Current approach

I've taken the more traditional approach of a walker robot, although I've kept the theme of the sidewinder by attempting to minimize the number of contact points between the robot and the ground.

EvansRobotV1Side.jpg EvansRobotV1Top.jpg

The same walking apparatus on the front of the left of the robot is in the process of being mirrored on the right. The cumbersome frame around the "legs" is required to restrict the domains of their degrees of freedom.