9.6- Conclusion & Future Work
Accomplishments
We thought project was successful and that we are able to successfully make something that is able to move forward on its own in a unique way. Our final design achieved continuous forward locomotion driven by an asymmetric friction model and was all powered by a single motor input per linkage.
Next Steps for Improvement
Closed-loop motor control: Adding rotary encoders would allow the software to track exact slider position, enabling more precise control lrather than relying on fixed step counts.
Foot material optimization: The asymmetric friction model is highly sensitive to foot material and surface conditions. A more systematic study of rubber foot geometries and surface textures could improve the reliability of the anchoring during the push phase.
Lessons Learned
Creating multiple spares and back-up parts is very important, as parts can break for many reasons. The 3D-printed linkages cracked multiple times during press-fitting of the metal shafts and under high-torque operation—having spare prints ready saved significant time.
Wires should either be very firmly in-place or easily accessible to allow for easy debugging. Loose jumper cables on the breadboard caused intermittent motor failures that were difficult to diagnose.
Future Work
Experimenting with more compliant materials like bendable wood or TPU to see if the mechanism could be manufactured as a single part, eliminating the need for discrete joints and assembly.
Implementing sensor feedback (e.g., force-sensitive resistors on the feet, IMU on the body) to create a closed-loop controllers that adapts to different conditions.
Scaling the design up or down to explore how the kinematic behavior changes with size and weight
Tips for Future Groups
Start with the kinematic math early. Running Gruebler's Equation and sketching out the linkage geometry before building anything physical will save you from dead-end designs.
Use metal hardware for joints from the start. Plastic-on-plastic joints will frustrate you a lot
Document your iterations with videos. Helpful for class purposes as well as seeing your progress
Acknowledgements
We would like to thank the Robot Mechanisms Design course staff for their guidance throughout this project. Special thanks to the TIW makerspace for providing access to laser cutting and 3D printing facilities, as well as the hardware components that made rapid prototyping possible.