WaterOscillator

thingiverse

The ArduSnake library, created by ObiJuan (available at http://www.thingiverse.com/thing:21401), enables modular snake robots to move using oscillators controlled via Bluetooth communication. By adjusting the amplitude, frequency, phase, and offset of the 2 oscillators, you can direct the robot's movement forward or backward. Varying the offset value allows for different directions as well. A helpful video can be found at http://youtu.be/MMdTZWX3w0k, while more information is available in ObiJuan's blog (http://madebyfrutos.wordpress.com/2012/08/14/water-oscillators/). To build your own, print and cut parts from a 12 cm diameter foam circle, ensuring you don't hurt yourself in the process. Essential components include an Arduino Pro Mini, two medium-sized servos, a budget Bluetooth modem, and a 9v battery (a 7805 for voltage regulation is optional). The code, based on the ArduSnake library, can be found at https://github.com/astromaf/WaterOscillator.git, where you'll find improved Bluetooth communication for real-time adjustment of oscillator parameters.