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Biped Simulation
I was the lead designer for a group project in Bio Inspired Robotics that simulated a simplified biped walker. I was responsible for the designing, CAD modeling, and motion studies of the walker.
Our goal was to mimic the three linked legs of ostriches and bipedal dinosaurs, which are more efficient and stable then the two linked legs traditionally used in robotic biped motion. We designed a set of legs inspired by Leo Thansen's Strandbeests, mechanical creatures that use wind power to walk.
Strandbeests use a single active rotational joint to articulate the entire leg, a feature we wanted to mimic. However, our design has a longer stride length, higher top speed, and more closely mimics the walking motion of a dinosaur. To achieve this we ran a series of mathematical simulations to optimize the performance of the leg.
To test the theory behind our design I created a motion study in Solidworks. The "robot" has the elongated body of a dinosaur since the long shape's high moment of inertia keeps the walker on a straight course. The model was free to move, roll, and twist as it walked but was still able to keep itself upright and walking. Simulated springs keep the ankle from rolling too far in either direction.
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