Crawling Robot

This robot was made as a homework project for my Advanced Robotics class, in collaboration with Jeremy Kanovsky. We were prompted to design and build a "crawling robot" without wheels or legs. In two weeks, we came up with a modular, scalable "loop robot" that consists of 8 identical sections with different electronics components inside. The robot has 16 degrees of freedom and can perform forward, backward, and steering motion by rolling segments of it's body over one another.

Finished robot

Details

The robot body is made of 8 identical 3D-printed segments. Each segment has two MG90s micro servos and other electronics components inside. We did our best to distribute each components evenly across the segments in order to balance their weights. These components include two 2S Lipo batteries, one 1S Lipo battery two PCA9685 servo drivers, a Raspberry Pi Zero W, and two voltage regulators.

Design renderings

Robot assembly