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
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