Actively Flexible Snake Robot

Start your free trial to Altium Designer for 15 days: I previously made a worm robot, which used Peristaltic locomotion – expanding and contracting various segments of its body to push itself along. I’d intended to come back to this project and add some ratchet wheels on each segment – just like the hairs that can be found on real earthworms, which would help prevent slippage. I’d also intended to add more actuators so that the worm could bend side to side to steer, and also bend up and down so it could climb over objects. I’ve also previously experimented with various wheel alternatives, to see how robots can climb over objects. This included a hybrid-leg-wheel robot, and my Pedrail wheels, which had fourteen extending legs around the circumference of the wheel which run on a rotating guide in the wheel hub. So I’ve decided for now, to build a new robot which has actively driven wheels, and can also bend in two axes between each segment. This rob