by MAF, published

WaterOscillator by MAF Aug 14, 2012

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Based on "ArduSnake library: Locomotion of modular snake robots" by ObiJuan. (http://www.thingiverse.com/thing:21401)

By means of Bluetooth communication, the 4 characteristic parameters of the 2 oscillators, can be modified: amplitude, frequency, phase and offset.

With the sign of the phase value, you can change the movement direction: forward or backward. If the oscillators have the same value of phase, movement is not achieved.
By varying the offset value (midpoint of the oscillations) the device can move in different directions.

A video can be found here: http://youtu.be/MMdTZWX3w0k

More info in my Blog: http://madebyfrutos.wordpress.com/2012/08/14/water-oscillators/


Print the parts and cut from a piece of foam, a circumference of 12 cm in diameter. With a cutter,make some holes to keep the electronic parts inside. (Warning: Don't hurt you!)
I've used one Arduino pro mini, two servos (medium size), a cheap bluetooth modem and a 9v battery. (Optionally, you can use also a 7805 to regulated the voltage to 5v)

The code is based on "ArduSnake library: Locomotion of modular snake robots" by ObiJuan. (http://www.thingiverse.com/thing:21401)
I've improved the bluetooth communication, in that way, you can modify the 4 characteristic parameters of the oscillators easily in real time.

Code: https://github.com/astromaf/WaterOscillator.git

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WaterOscillator by MAF is licensed under the Creative Commons - Attribution license.

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To MAF: Interesting looking project, but the video is lacking in one way to make it useful: No stationary reference point shown in the video to show actual movement rate,of,the robot. Thanx, would love to see how far/fast it moves.


MAF, this is one of the most creative robot I have ever seen. The only problem is that I always said the same to all the robots you have designed! :-) You really are the most creative person I have ever met. Congratulations!!!!

Projects like this never fail to impress me.

I feel like there's been all this creativity bottled up inside people and 3D printing has broken the dam and finally given them the tools to execute every one of their ideas.

I totally agree with you :-) Yor are 100% right!!

what struck me about it was it looked

like a early step to making a flapping flying


I mean it would have to be oscilating way faster, but

it reminded me of a flying insect.

Con perdon... acojonante. Teneis que sacarle rendimiento con alguna publicacion!!!

It is quite quick for a two armed robot.

You could make it faster if you made the body a sideways catamaran in stead of a single float. I am sure it would get some attention given that the oars would be in the wrong places ie. at the bow and stern of your CAT.

Nice job with the code.

MAF - in reply to qharley

Thank for the comment!