Making Robot Snakes That Slither, Sidewind, And Strike

[Will Donaldson] has been making robot snakes of all sorts. One of his snakes hugs the ground, slithering across it with a sine wave motion. Flipping it on its side and calling different code, that same snake also moves like an inchworm. Another of his snakes lifts parts of itself upward to move sideways across the ground, again using sine waves.

3D printed scales
3D printed scales

At first, his slithering snake would only oscillate in place on the floor. Looking more closely at biological snakes, he found that part of the reason they moved forward was due to their scales. The scales move smoothly over the ground in one direction but grip when pushed backward or sideways. He also found work done at Harvard University where they combined pumped air and papercraft to make scales which change shape. And so [Will] designed and 3D printed some scales for his snake. However, as you can see in the video below, they didn’t work on carpet.

His success came when he added wheels to each segment. They didn’t work like a car, there was no engine turning the wheels. Instead, they acted more like scales, rotating freely in one direction and gripping when pushed sideways. This success also allowed him to add a parameter to his code for turning left or right.

As we said above, he can flip the ground hugger sideways and run it as an inchworm and he also has a working sidewinder snake variation. The sidewinder can even lift up its head and strike like a cobra. Check out his hackaday.io page if you want to make your own. He’s provided STL files, code, and construction details.

[Will] has a lot of future plans for his snakes. Currently, they’re tethered to a modified ATX power supply but he’d like to incorporate LiPo batteries into the snakes instead. His original goal was to make a tree climbing snake like the one by the Biorobotics lab at Carnegie Mellon University (updated link for the article) but his first snake wasn’t long enough. He still plans on pursuing that as well as an underwater electronic eel. There seems to be no limit to the things he can try. For now, check out the video below to see his successes and his failures so far. Maybe you even have some suggestions for those tricky scales. The undersides of his snake’s segments do seem modular, lending themselves to experimentation.

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Autodesk Introduces Serpentine Router For Eagle

Since Autodesk acquired Eagle a few years ago, they’ve been throwing out all the stops. There is now a button in Eagle that flips your board from the front to the back — a feature that should have been there twenty years ago. There’s parametric part generation, push and shove routing, integration with Fusion 360, and a host of other features that makes Eagle one of the best PCB layout tools available.

Today, Autodesk is introducing something revolutionary. The latest version of Eagle (version 8.7.1) comes with a manual serpentine routing mode, giving anyone the same tools as the geniuses at Nokia twenty years ago.

An exclusive first look at Eagle’s new serpentine routing mode

The new serpentine routing mode is invoked via the SNAKE command. This brings up serpentine routing interface, where you can add nets and place your serpentine router. Click anywhere on the screen, and you can route around pads and traces to collect all the vias, hopefully netting a high score.

There are some tricks to this new mode. Control and Shift change the speed of serpentine routing, and the current zoom level changes the initial speed. As you route between vias, the serpentine router grows longer, making routing significantly more difficult, but if you’re up to the task you’ll eventually get a ‘You’re Winner’ screen.

This is just the innovation we’ve been looking for from Autodesk since their acquisition of Eagle. It’s not push and shove routing, and it’s not parametric part generation. Serpentine routing is the next big thing in EDA tools, and already this routing mode is on the upcoming feature list for KiCad. The KiCad version of serpentine routing will be pronounced, ‘sneak’.

Building A Bioactive Vivarium From An IKEA Shelf

Pets are often worth a labour of love. [leftthegan] — in want of a corn snake — found that Sweden’s laws governing terrarium sizes made all the commercial options to too small for a fully-grown snake. So they took matters into their own hands, building a bioactive vivarium for their pet!

[leftthegan] found an IKEA Kallax 4×4 shelving unit for a fair price, and after a few design iterations — some due to the aforementioned regulations — it was modified by adding a shelf extension onto the front and cutting interior channels for cabling. For the vivarium’s window, they settled on plexiglass but strongly recommend glass for anyone else building their own as the former scratches and bends easily — not great if their snake turns out to be an escape artist! In the interim, a 3D printed handle works to keep the window closed and locked.

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Papa Loves Mamba: Slithering Robot is Reconfigurable

It makes sense considering evolution, but nature comes up with lots of different ways to do things. Consider moving. Land animals walk on four feet or two, some jump, and some use peristalsis or otherwise slither. Oddly, though, mother nature never developed the wheel (although the mother-of-pearl moth’s caterpillar will form its entire body into a hoop and roll away from attackers). Human-developed robots which, on the other hand, most often use wheels. Even a tank track has wheels within. [Joesinstructables] latest robot still uses wheels, but it emulates the slithering motion of a snake, He calls it the Lake Erie Mamba.

The most interesting thing about the robot is that it can reconfigure and move in several different modalities. Like the caterpillar, it can even form a wheel like an ouroboros and roll. You can see that at the end of the video, below.

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Alexa Keeps Pet Snake Thermoregulated

[Chris Grill] got his hands on a pet boa constrictor, which requires a fairly strict temperature controlled environment. Its enclosure needs to have a consistent temperature throughout, or the snake could have trouble regulating its body temperature. [Chris] wanted to keep tabs on the temp and grabbed a few TTF-103 thermistors and an Arduino Yun, which allowed him to log the temperature on each side of the enclosure. He used some code to get the temp reading to the linux side of an Arduino Yun, and then used jpgraph, a PHP graphing library, to display the results.

snakemainBut that wasn’t good enough. Why not get a little fancy and have Amazon’s Echo read the temps back when you ask! Getting it setup was not so bad thanks to Amazon’s well documented steps to get custom commands set up.

He eventually lost the battle to get the Echo to talk to the web server on the Yun due to SSL issues, but he found an existing workaround by using a proxy.

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Python Solution To A Snake Cube Puzzle

Puzzles provide many hours of applied fun beyond any perfunctory tasks that occupy our days. When your son or daughter receives a snake cube puzzle as a Christmas gift — and it turns out to be deceptively complex — you can sit there for hours to try to figure out a solution, or use the power of Python to sort out the serpentine conundrum and use brute-force to solve it.

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Snake On A BBC Micro:bit

The first of the BBC Micro Bits are slowly making their ways into hacker circulation, as is to be expected for any inexpensive educational gadget (see: Raspberry Pi). [Martin] was able to get his hands on one and created the “hello world” of LED displays: he created a playable game of snake that runs on this tiny board.

For those new to the scene, the Micro Bit is the latest in embedded ARM systems. It has a 23-pin connector for inputs and outputs, it has Bluetooth and USB connectivity, a wealth of sensors, and a 25-LED display. That’s small for a full display but it’s more than enough for [Martin]’s game of snake. He was able to create a hex file using the upyed tool from [ntoll] and upload it to the Micro Bit. Once he worked out all the kinks he went an additional step further and ported the game to Minecraft and the Raspberry Pi Sense HAT.

[Martin] has made all of the code available if you’re lucky enough to get your hands on one of these. Right now it seems that they are mostly in the hands of some UK teachers and students, but it’s only a matter of time before they become as ubiquitous as the Raspberry Pi or the original BBC Micro.  It already runs python, so the sky’s the limit on these new boards.

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