| drumset

Snarebot 1.0


Snarebot 1.0 was the original member of the drumset. Although it is currently retired, there is discussion about bringing Snarebot 1.0 back to hit the hi-hat.


The control for Snarebot 1.0 is beautifully simple. Large pull-solenoids attached to cables bring the sticks down. Each stick can hit about twice per second. While the solenoids and electronics are in the base, pipes and cables transmit all of the motion to the top where the drum and sticks are.

The most brilliant part of the robot is the sleeve used to hold the drumsticks. It mimics the compliance found in the human hand by suspending the stick in low elasticity rubber, and encasing that device in an easily mountable tube.


This Snarebot has a dual MOSFET board to convert a 5 volt logical pulse into a 12 volt difference across the solenoids. While there is no note processing onboard, plugging the robot into two digital output pins on an Arduino grants access fairly easi

Snarebot 2.0


Snarebot 2.0 was designed to expand the capabilities of the snare portion of the RobOrchestra. The new design has two degrees of freedom in each stick to allow for velocity control and more complicated strokes.

The robot is nearly complete, with functional servos but non-functional solenoids. The servos alone are enough to play basic songs that Snarebot 1.0 could play, but if the solenoids are implemented, the versatility of the robot will be increased dramatically.


The device that holds the drumsticks is a direct copy from the original Snarebot. It was a robust and simple design, so there was no need to alter it.

The joint closest to the sticks is controlled directly by a Servo. Because the speed and position of this join are easily controlled, this joint is the most important in diversifying the snare.

Solenoids on the joint closest to the base allow for harder hits. Velocity control on the Snarebot can be achieved with a combination of solenoid and servo timing.


An Arduino Duemilanove reads in serial commands from a master controller and deciphers the text to determine what notes to play. Digital outputs through a MOSFET board control the solenoids while PWM outputs control the position and velocity of the servo