About this Library
This site provides documentation for the snake robot OPPAS, an open-source and parametric snake robot. Files can be downloaded at:
- https://grabcad.com/library/oppas-open-source-parametric-snake-robot-1
- https://gallery.autodesk.com/fusion360/projects/92839/oppas-open-source-parametric-snake-robot
Related projects can be found in FabReyesMecha.
Projects to check:
| Project | Description | Status | Link (documentation) |
|---|---|---|---|
| OPPAS | An open-source parametric snake robot | Active. Documented. | https://fabreyesmecha.github.io/OPPAS/ |
| DuoDMXL | Library and hardware to control Dynamixel servos with a Duo microcontroller board | Active. Documented | https://fabreyesmecha.github.io/DuoDMXL/ |
| serial_nrF24 | Library for passing information from a PC to a nrF24L01+ | In development. Not documented | NA |
| robCon | A library for closed-loop control of a robot using a PC. Compatible with Duo and a PC master using Python or Mathematica | In development. Not documented | NA |
About the author
If you have any question contact me through the GitHub repository or to my e-mail address: bugundianvolker@gmail.com. In addition to my GitHub profile, I add 3D models at the following sites. You may find something of interest.
- GitHub Profile: https://github.com/FabReyesMecha
- Thingiverse: http://www.thingiverse.com/FabReyes/about
- GrabCAD: https://grabcad.com/fabian.r-3/public
- Fusion 360 Gallery: https://gallery.autodesk.com/fusion360/users/GZE6K5HX3P2F
In addition, you may find my publications and public academic profile at:
- Ritsumeikan University: http://ri-search.ritsumei.ac.jp/field/007/41/139/0000000179/profile.html
- Google Scholar: No idea how to give my google scholar profile. I think it should be public.
Full disclosure: I sometimes upload things not related to my research. Don't hesitate in contacting me for unrelated stuff.
Image by ernestdesigns
BioInMech Laboratory at Ritsumeikan University
OPPAS has been developed during my research at Ritsumeikan University (Japan) at the BioInMech Home page (Biomimetic Intelligent Mechatronics) Laboratory.
The design of OPPAS was motivated because I did not find any other snake robot prototype that meet the requirements for my project. I am relatively new to CAD and in general, my speciality is not mechanical design. I prefer the mathematical part, like modelling of dynamic systems or control theory. However, I found Fusion 360 to be a very enjoyable and promising software, especially because of the possibilities to collaborate and share projects in a better way than other CAD software. I never really got into SolidWorks. The timeline of Fusion 360 and other features fit very well with my workflow.
Although OPPAS is a project developed at RU, I consider it my personal 'baby', since it has been almost all self-financed and developed in my free time (in other words, no vacations or weekends). This is because my main tasks are, as mentioned earlier, related to more theoretical problems. I hope OPPAS can be an interesting project, not only for researchers (research about locomotion with snake robots has increased in the last years), but also for any user. I hope snake robots will become more widespread, someday.
OPPAS Mk. 0.9 (Not the version documented here) is being presented in ROBOMECH 2017 at Fukushima, Japan.
License
OPPAS is a project being developed in Ritsumeikan University, by the Biomimetic Intelligent Mechatronics (BioInMech) Laboratory. OPPAS is licensed under the Creative Commons Attribution 4.0 International license to Fabian Eugenio Reyes Pinner (Fabian Reyes) (2017). A summary of the license is provided below:
You are free to:
Share — copy and redistribute the material in any medium or format
Adapt — remix, transform, and build upon the material
for any purpose, even commercially.
The licensor cannot revoke these freedoms as long as you follow the license terms.
Under the following terms:
Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
This work is licensed under a Creative Commons Attribution 4.0 International License.
The full license can be found here: https://creativecommons.org/licenses/by/4.0/legalcode
BioInMech's logo is property of the BioInMech Laboratory.
