3.6 Conclusion & Future Work

The mechanism did walk as expected and was able to go over minor obstacles. The motor torque did not end up being an issue and the gear ratio selected was able to handle the mechanism’s weight and motion without trouble. The low friction washers between legs also played significantly into the lowering of the force required from the motor and the smooth nature of the motion. The legs go up a significant distance to go over small obstacles. The assembly took some time due to the alignment of the legs, which is why documentation of direction would be helpful in future development.