🐍 Open-Snake – Modular Snake Robot with DYNAMIXEL 2XC (or 2XL)

Open-Snake is an open-source snake robot project built using DYNAMIXEL 2XC-series motors, capable of two-axis motion per segment.
It reproduces realistic serpentine locomotion through chained modular segments — inspired by the motion of real snakes.

🚀 What makes it special?
It runs on low-performance hardware, thanks to its simple, wave-based control logic.
There’s no need for heavy computation or complex planning — just basic math enables smooth and flexible motion.
Perfect for microcontroller-level systems such as OpenRB-150 or Arduino-class boards.

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🧠 Ideal For:

• 🤖 Robotics enthusiasts exploring undulatory movement
• 📚 Educational demonstrations on modular kinematics
• 🧪 Experimental development of bio-inspired locomotion
• 🛠️ Embedded or low-cost systems with minimal computing power

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🎬 Watch It in Action

1️⃣ Assembly + Mat Crawling Demo

Starts with a quick assembly view, then shows the robot slithering smoothly on a curved mat surface.

👉 Watch on YouTube

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2️⃣ Smooth Crawling on Flat Ground

👉 Watch on YouTube

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🎥 Additional Demonstration Videos

Explore more real-world motion tests and experiments:

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🎮 Simple Remote-Control Demo

A brief test of manual control using a remote input to activate basic movement.

👉 Watch on YouTube

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💧 On-Water Test (Reverse Direction Due to Fluid Resistance)

An experimental test on water. Interestingly, motion occurs in the opposite direction due to the change in force distribution. Sadly, the robot was not waterproof...

👉 Watch on YouTube

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🌄 Outdoor Terrain Test – Movement Without Wheel Support

A field experiment showing how the robot can move over natural terrain, independent of surface type.

👉 Watch on YouTube

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🌊 Smooth Motion Without Wheels on Flat Surface

Demonstrating smooth crawling on a flat surface with no wheels or rolling parts.

👉 Watch on YouTube

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🐍 Compact Zig-Zag Motion (Wave Timing Test)

A test focused on optimizing wave phase and timing between segments for tight turns.

👉 Watch on YouTube

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🔧 Key Features

• Built using DYNAMIXEL 2XC (or 2XL) – dual-axis control per module
• Modular architecture – simply connect more segments to scale
• Lightweight control logic – runs even on microcontrollers
• STL files provided for 3D printing
• Fully open hardware – easy to build, modify, and extend

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📁 Repository Structure

Open-Snake/
├── stl/             # 3D printable parts for each segment
├── docs/            # Wiring diagrams and assembly images
├── firmware/        # (Coming soon) control logic for locomotion
└── README.md