Dr. Gavin Miller has been investigating snake robots for over ten years. His first models, S1 and S2, use one servo at each joint. S3 used a pair of servos to create a sidewinding motion along with the more common horizontal undulations. S4 was an attempt to power the snake with just one motor, but ran into problems because of high torque in the u-joints. S5 was the first to have all CNC parts, … [Read more...]
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