Sneel is the name of my snake / eel swimming robot. This is documentation of hardware, software and mechanical design of Sneel_003.
urethane flex tubing, microcontrollers, Zigbee wireless radio, hose clamps, wires, servo motors, titanium servo brackets, silicon, marine grease, epoxy, pond pump
Sneel is a swimming robotic water-snake, constructed to explore lifelike, sinuous motion in an aquatic robot. It is designed to navigate unknown territory and extreme terrain.
Sneel is inspired by Protei, (protei.org), an international project for the design of a fleet of open source, robotic, unmanned sailboats. Sneel is a development of Protei_007.
Sneel_003 swimming in San Francisco, California, Spreckles Lake, Golden Gate Park:
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 version 2 swimming like a real snake:
Sneel version 2, first swim in central park: