Keeda V1 walks .....

So, after one year of inactivity, we finally make the first version of Keeda walk.
This implementation is very different from the designs proposed by sush. Its very simple also. Using basics of BEAM, we replaced the quad inverter based motor controller ( effectively a motor controller :) ) with a pic 18F4550.

Writitng the program was rather easy. But making the whole bunch of wires, solidified glue, motors, and..... sillicon was took some time. Balancing weight, making sure that legs touch the ground at the right places are some of the key points.

The very initial version used to fall down after every 5-6 steps, which appeared cute to the observers, ( and frustrated us ... :) )

A: Hey look , it just walks like a baby,

Me: Yeah , we'r teaching it to walk...

A: Hey, it just fell down... and that looked way too cute....heeeee

Me:. Well that shouldnt have happened,, lemme see.. oh there is a problem with the motor..blah...blah...blah......




So, after one more week of "deBUGging", we were finally able to make it walk .... i mean for 2 minutes, without falling... yipee.......




and here are some more stills...

top view....














profile view.....

















the power supply unit..
















the control board....












the next version....
is going to be faster, with an internal battery, small control board, with some elementary sensors.... and...............

Sush's.. Pro/E Models

Sushant proposed a 4 bar linkage leg system and modelled it on Pro/E.. presenting the images... the basic structue of robot.. using 4 bar linkages as sushant said...





rear wheels in place...
( initially we'll be building the robot with rear wheels instead of rear legs...
we plan to make a four legger robot in phase two .. )





and ... this is just to show how mean ( i dont mean it ).. sushant can get..
with all the labels...









the final ... keeda... the zixic way....

the initial "pencil and paper sketch"....

Start up - ZIXIC

First project of the ZIXIC Team.
Its amazing how nature works.. Insect - A wonderful creation..
We give a mere try to replicate the leg movement of an insect. Its the complex motion and good coordination between the legs that makes it move in a specific direction with variable speed.
In the first protoype of the 'Keeda' we would be having two legged bot and two rear wheels for support. Its just an attempt to imitate the leg motion.
The leg would consist of a 'femur' and 'tibia'. It consists of a four bar linkage that would keep the tibia part of the leg always vertical. The tibia and the motor (actuator's shaft) would make up one pair of the parallel sides of the paralleogram and the two parts of femur makes up the other pair. Tibia has a spring within it to act as a suspension.
Insect has basically three parts in his body-
1.Head (part consisting of sensors) for detecting a wall or any abstruction in front. It could even detect if the floor is missing in the front, in case of stairs.
2.Thorax (part consisting of main body) the legs would be attached here, the motors atuators connected to the body.
3.Abdomen (rear part) here the rear wheels are present for the support as currently we are just working with just two fore legs.

Once it starts crawling we might it to a next level. Wish us luck.
Cheers
Sush