Juan Gonzalez Gomez talks about his open source 3D printable snake robots in the seventh episode of the Flexible Elements podacst!

Juan Gonzalez Gomez and a long snake robot

Juan Gonzalez Gomez and a long snake robot

In this episode we hear Juan Gonzalez Gomez talk about the snake
modular robots he is developing. Everything is fully open source,
so if you want to test making your own you can get started right
away. But we start from the beginning and hear how he got started.
As for so many others active in the field, it was with the work
of Mark Yim, and that is also where the Y in the name of his
modules comes from. Gonzalez Gomez also talks about the
different gaits already implemented in the snakes –
there is even one that regular snakes can’t do! He also talks
about the work with CPG, Central Pattern Generators, and the
cooperation he is starting with biologists to develop
new approaches to CPG gaits.


Robotic Side-Winders Coming to a 3-D Printer Near You

Juan Gonzalez Gomez was born in Madrid in 1973. He studied a 6-year
bachelor degree on Telecomunication engineering at UPM (Universidad
Politecnica de Madrid) and got his doctorate in robotics at UAM
(Universidad Autonoma de Madrid). He has been researching in modular
robotics since 2002. Currently he is a visiting professor at Robotics
lab in the UC3M (Universidad Carlos III de Madrid). Also, he is a
passionate of the open source movements. All his designs (software,
hardware and mechanics) are completely open and available to everyone.

Show Notes:

– Juan Gómez home page
– Juan also have a great Youtube channel with many interesting videos
– For the latest news on his progress, I can recommend Juans Twitter
feed! http://twitter.com/Obijuan_cube/
– Juan works at the Robotics lab
http://roboticslab.uc3m.es/roboticslab/ in the Universidad Carlos III
in Madrid http://www.uc3m.es/portal/page/portal/home
– The Y in the module name Y1 comes from the name of one of the great
researchers on the area called Mark Yim, who is a a great inspiration
to all of us working in the area! http://ai.stanford.edu/users/mark/
– The Reprap project is a very impressive open source 3D Printer that
you can build for yourself, for a amazingly low price
– A commercial derivate of RepRap providing kits and parts
– A video with several gates
– Milling your own circuit boards with an open source mill
– A great video about milling your own CB
– A minimal configuration solution based on two modules moving
– For more information on using sensors in modular snake robots Search
for “Towards the Sense of Touch in Snake Modular Robots for Search and
Rescue Operations” by Juan Gómez in  Modular Robots: State of the Art
at http://modular.mmmi.sdu.dk/icra10workshop/papers/modular-robots-icra2010-workshop.pdf
Other papers on snake locomotion aided by sensors:
– A video showing how their snake is not hinderd by obstacles but
actually can use them to climb, absolutely fascinating Obstacle aided
locomotion http://www.youtube.com/watch?v=6E9HJtI7ILo
Further reading:
-A snake robot with a contact force measurement system for
obstacle-aided locomotion Pål Liljebäck, Kristin Y. Pettersen, and
Øyvind Stavdahl
– A hybrid model of obstacle-aided snake robot locomotion Pål
Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, and Jan Tommy
Some links to novel sensor designs:
Design of a Small-Scale Tactile Sensor with Three Sensing Points For
Using in Robotic Fingertips Van Anh Ho, Dzung Viet Dao, Susumu
Sugiyama, and Shinichi Hirai
Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft
Fingertip Focusing on Stick-to-Slip Transition Van Anh Ho and Shinichi
Hirai Novel Modular CPG Topologies for Modular Robotics Fernando
Herrero- -Carrón, Francisco de Borja Rodríguez, and Pablo Varona

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