Table of Contents
Problem Statement
Mimicking a human-like gait motion in bipedal mechanisms is a problem that has been solved analytically; however, these gait simulations often encounter issues in translation to physical devices. This challenge arises from the number of manufacturing concerns that are difficult to model in simulation such as friction and alignment of the system. These issues, can easily hamper the finely tuned motion preventing movement from being achieved. As a team, we set out to build a bipedal walking mechanism capable of replicating this illusive motion using our knowledge of kinematics and mechanical design.
Project Description
While this problem has been solved and attempted countless time by large companies and researchers alike, success is often achieved using mechatronics controlling a very complex model that achieves balance and consistent motion through programmed weight redistribution and machine learning. Our project took a different approach - we aimed to create a completely mechanical solution to this problem - our goal was to create a machine that would walk using nothing more than mechanisms, a motor, and a power supply.
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As the result of much iteration, we succeeded in creating a machine that met our team's original goals and purpose. The result of our prototypes and iterative approach will be explained in this write up. We hope to communicate the kinematics of our system, our design process, and our final results for the reader interesting in further exploring the pain-points and possibilities in the development of Bipedal walking mechanisms.