Inspection And Exploration Gas Pipelines: Snake Robot

Mobility is a primary concern for robotics applications. Snake-like locomotion is a
stable and tough but often overlooked mobility method. Snakes can use their entire
body for propulsion, creating a larger surface area and providing greater grip. The
primary objective is to come out with a construct of six-segment snake robot. The
robot will be able to move simultaneously by moving its body sections. The robot is
control and designed based on PIC16F84A microcontroller. The cores of the project
are the applications of electronic fundamentals in circuit design and programmed
development-using Basic in delivering sinusoidal motion. The circuit is designed
using Eagle and fabricated as to provide the means of interconnecting between
servomotors and the circuit to deliver a movement. The project methodology stresses
on the research and analysis, circuit design, circuit modeling, micro controller
programming, circuit fabrication and finally implementation of mechanical parts. The
end of system comprises of the hardware for the micro controller, servos motor and
fabricated circuit in order to achieve locomotion.