Implementation of the Electronic and Communication System for a Snake-like Modular Robot

Nowadays, engineers must have a wide variety of knowledge and techniques to apply them to different contexts, where robots play a fundamental role. Among the most useful are the snake-like robots which, thanks to their mobility, can adapt to different environments as needed. In this study a snake type robot was recreated to simulate the movement patterns providing a degree of freedom per joint so that it can adapt to the surface, where it was found that the mathematical expression that symbolizes this movement is a function of the amplitude of the wave and the phase shift of the movement of each joint, which can be recreated using servomotors. Having said this, it is demonstrated that the movement of a snake can be simulated by performing a mechanical coupling of joints, which is based on a formula that represents the sinusoidal kinematics of these animals. Also, by means of the Wi-Fi communication protocol, a function was implemented to vary the initial parameters of the SNAKE in order to adjust the movement according to the required surface.