About the Snakeboard:
The snakeboard was originally a commercial toy, much like a skateboard. The "Snakeboard" in this project
is based on this device. It has no motors attached to its wheels; it moves only by conservation of momentum.
Only two torques are applied: one to steer the wheels and one to turn the flywheel. Since the snakeboard has a 5-dimensional
configuration space, and only two actuators, it is called "underactuated."
Here are some pictures showcasing the features of the snakeboard:
The amps and electronics were removed to reduce the weight.
The steering wheels are attached to one motor and the flywheel to the other. Notice how the steering wheels are connected and turn symmetrically.
History of the Snakeboard:
Eric Faulring and Marin Zimbru constructed the snakeboard for their Advanced Mechatronics class. They used all analog control,
keeping the wiring down to two cables. The snakeboard was controlled using a joystick and all calculations were done with the
onboard electronics.
Stanley Tsao upgraded the onboard circuit board to a more finished version.
Benjamin Stephens migrated the snakeboard to a computer controlled system. Using the QNX real-time OS, he added the ability to input
desired paths for the snakeboard, followed by their execution.
Prasun Choudhury developed the motion planning software for the snakeboard. His software takes in the geometry of the snakeboard's
environment, and generates a path for it to follow. This allows for collision-free movement through and around obstacles.
