Steerable Mechanical Walker

Background

The winter 2021 steerable walker team, Rickshaw Robotics, is part of the capstone design projects.

Walkers have the ability to tread over terrain that wheeled vehicles would not be able to. By implementing a set of bipedal front legs, the walker is able to walk over obstacles through its calculated foot trajectory and leg design, while pulling a rickshaw which could hold cargo.

Our walker is geared towards a hobbyist audience and those with interest in RC vehicles.

Goal and Objectives

Our goal is to design and complete a steerable mechanical walker that fulfills a list of requirements:

i) bipedal ii) walk 1-1.5 ft/s iii) use 1 drive and 1 steering motor iv) have reliable steering, in a figure-eight motion v) be RC controlled

by the end of the winter quarter.

Schedule

Week 2: Define problem statement and criteria

Week 3: Research and propose ideas for each subsystem of the walker

Week 4: Create solidworks model and motion analysis testing 3 different steering options (front pin, center hinge, rear-wheel steering)

Week 5: Final solid model of walker using center hinge configuration and order parts

Week 6: Begin prototype A

Week 7: Test prototype A with all the electronic components, note issues