After coming up with five initial concepts, we decided to pick two to focus on. We really liked the frog idea because we wanted to find a way to create a "hopping" motion. We also thought that the "box ski dude" would be fun to work with and that it was our only concept that really imitated the act of walking. We started making foam models for these two ideas to better grasp their motions and complexity.
Here is our foam model of the "box ski dude":
After making the model, we realized that we had to make some adjustments to the design. There is the problem of balance and our foam model lacks stability. Because it only has two legs, the robot would just fall as one leg moved forward. This shows us that we need to add elements that would support the robot. For example, we could add two more legs (not attached to the motors) that would keep robot stable.
Another adjustment we have to make is where we have to attach the legs according to the gear. On the model, the legs are attached on the same axle of the motor and it is concentric to the gear. To ensure that the robot actually moves, we have to connect the legs off center to the gear. This would lift the legs off the ground and move them forward without having them slide on the ground. If we decide to make this adjustment, then the supporting elements would be very important, because as the robot 's weight would shift left to right, it would lose its balance.
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