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ROBO ALIVE Robotic Snake Series 3 (Red) Light Up Toy, Battery-Powered Robotic Toy, Realistic Movements, Toy Lizard

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We used a similar setup as the instructable example for our photocell sensors. When getting one sensor, it is exactly the same. Just make sure the analog pins are placed in pins 2-5, as the motors will be using 0 and 1 (even though they are not plugged into them). We have used analog pins 3, 4, and 5. Where 3 and 4 are the directional sensors and 5 is the ambient sensor. Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad (Dec 2006). "Developments in Snake Robot Modeling and Locomotion". 2006 9th International Conference on Control, Automation, Robotics and Vision. pp.1–8. doi: 10.1109/ICARCV.2006.345142. ISBN 978-1-4244-0341-7. S2CID 2337372. I'm using one button for the water pump (12V battery) and one for the arduino / servos (6V battery). The water pump cannot be turned on unless the snake is in the water or the pump will dry up. So I turn on the snake first then turn on the pump. See the next step for attaching the water pump. Again, the code is similar to the photocell instructable. We create photocellReading variables to store the analog readings from the pins and then start the main loop. We will set the variable to the analog reading and print it out to see if it is working. We pause for 1 second, or else the reading will print out so fast we will be unable to read them. To control the motors, we will be getting the base reading from all three sensors first (these are stored in photocellReading#).

This project was built for the Things that Think undergraduate/graduate class CSCI 4830-7 and CSCI 7000-7 for the University of Colorado at Boulder. Our group consisted of one graduate and two undergraduate students. We worked on the project for 8 weeks, most of the time trying to learn how to program the arduino and learning the basics of circuits. If you are looking to build this project, we do not anticipate this project taking nearly as long, but altogether could be completed in one weekend. I'm using a servo motor shield from seeed studios, but I am sort of just using it as a perf board, but a convenient one because all the ground and power pins to my servo motor are already jumped together, with a screw terminal for the battery input. And ignore those wires hanging off the board - I had prefiously soldered on female header pins for another use of the board, so I removed them so I could use this here. I eventually clipped them off but you can see them in the pics. The ambient light sensor will need to be placed near the center or end of the snake, at least far enough away that it will not sense any light aimed towards the head. By using the circuit diagram, set up the one LED to the breadboard and arduino. For this step, we removed the photocell sensors, so it would be easier to see the LED circuit. We recommend doing this also, it makes it easier to complete each step without previous work getting in the way of the breadboard, and eventually we wanted to reorganize the breadboard so it was configured as optimally as we could get it. Most likely, you will need to reorganize your breadboard also.Cut two a piece of rubber about 1.75" diameter, so that it fits inside of the vacuum reducers. Cut two pieces of cord about 2 feet long, to act as tethers and to help position the body inside of the skin. To add more LEDs onto same circuit, the LEDs must be set in parallel to each other, and everything else will be the same. The same code will be used in this part also because nothing has changed.

We then take the differences between Sensor 3 and Sensor 5 (and store it in photocellDifference1) as well as the difference between Sensor 4 and Sensor 5 (and store it in photocellDifference2). This will tell us how much brighter the directional sensors are from the ambient sensor. Since the light will be shinning on these sensors, the difference readings should tell us how much light is being directed at each sensor. Now, when you type the characters 1-6 in the serial monitor, when the snake is turned on, the characters should affect the motion. You should get an integer returned, corresponding to the baud rate xbee is set at. To make sure it is set to 57600, type "ATBD 6" then ENTER. The SnakeBot, also known as a snake robot, is a biomorphic hyper-redundant robot that resembles a biological snake. Snake robots come in many shapes and sizes, from as long as four stories (earthquake SnakeBot developed by SINTEF [1]) to a medical SnakeBot developed at Carnegie Mellon University that is thin enough to maneuver around organs inside a human chest cavity. Though SnakeBots can very greatly in size and design, there are two qualities that all SnakeBot share. The small cross-section-to-length ratios allow them to move into and maneuver through tight spaces and their ability to change the shape of their bodies allows them to perform a wide range of behaviors, such as climbing stairs or tree trunks. Additionally, many snake robots are constructed by chaining together several independent links. This redundancy can make them resistant to failure because they can continue to operate even if parts of their body are destroyed. Properties such as high terrainability, redundancy, and the possibility of complete sealing of the body of the robot, make snake robots very interesting for practical applications and hence as a research topic. [2] [3] A SnakeBot is different from a snake-arm robot in that the SnakeBot robot types are usually more self-contained, where a snake-arm robot usually has remote mechanicals from the arm itself, possibly connected to a larger system. Previous studies had mainly looked at snake movements on flat surfaces, but rarely in 3D terrain, except for on trees. Li said these did not necessarily account for real-life large obstacles such as pieces of rubble and debris that search and rescue robots would have to scale.

Run both buttons up through the vacuum reducer. Run the wire (containing power and ground) from the waterpump down through the hole in the vacuum reducer. So in total, the following wires should run through the vacuum reducer and the rubber pad : power and ground from both switches; one string; power and ground from pump. The attached graphs show the output angle values of each servo mapped over time, slightly out of phase from each other. The difference is when there is a different offset (delay in the time it takes one servo to get to the angle of the previous one in the line of waves).

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