This is a video of our centipede, unfortunately, not all the segments are synchronized. 

Imagine that you have just been wounded, and have no materials or ways to mend it. This can be very dangerous, which is why we invented something to bring it to you at a moment's notice. The Centipede is an all-terrain vehicle designed to carry supplies and bring them to those in need. It is broken into multiple segments to be able to bend and adapt to turns and hills in the enviroment. Each foot makes contact with the ground right after the one before it to keep the robot stable. The Centipede uses an extremely simple design, and each segment is just holding 2 gears, one attached to the motor, and one attached to the axel. The joint holding it together is 2 hinges slotted into each other to keep the segments limber and able to move about. We first built everything in cardboard, but it wasn't holding together, and obviously wasn't permanent enough, so we switched to wood and 3d printed legs. Originally we were going to build a Snail instead of a Centipede that would lay cement when placed on a brick wall, but just seemed a little tacky. Next, we went on to build an actual Centipede, which was far too heavy each segment was too big, and wouldn't hold together. We eventually made the segments smaller with no walls, which put each segment at about 4 ounces. We still weren't able to get the Centipede walking in the end, just because we didn't have motors that were strong enough to lift the entire thing, and fit inside the segments. 

Our purpose for this project was to construct a machine that would replicate the movement of a bug. Our solution was to create a kinetic system that would emulate the momentment of an inchworm through a mechanical structure involving 5 major moving modules. We learned that bugs are the most efficient species, and we had to pick a bug to replicate. We decided to go with an inchworm, because we found the way it moved interesting, and different then most other bugs.

Since insects are such an efficient part of our natural world, we can use their mechanisms of movement to further our technological world.Our project is based on the movement of an inchworm. It is broken up into segments and the a string runs through each segment. When the green button is pushed, a motor reels in the string, pulling it taut and pulling the segments of the body up into an arc. When the red button is pushed, the string unwinds and the body relaxes to start the process over again.When we first started, we wanted to use some kind of rubber to make the body, and a magnetic system to contract the body. After testing different things out, we decided upon a stronger material for the body and a more realistic mechanism.We struggled with the shape of the body segments. We needed something that would move freely, but be supportive enough to hold itself up.

Our first iteration was made up of cylinders. They were attached by screws to allow for movement. The problem was that it rolled and slid around instead of staying steady on the ground.For our next version, we made the two end pieces into prisms so that they had a flat side to lay on the ground. The flat side kept it stable, and we would add legs onto the bottom for extra support. The problem with this model was that the cylinders in the middle were not supported and would droop down to the ground.In our next model, we made each segment of the body a prism. We lengthened the arms that connected the segments and added curves into the side of each prism to guide the movement and add support.

This is a studio on Bionspired Robotics. The studio examines the efficient minimal structures of insects and in particular the architecture of their motor system and their patterns of movement. After going through a series of explorations involving the study of linkages and motion, we produced a mechanical design emulating the movement patterns of the legs of mantis, along with proportional body size and legs. Mantises are very unique insects and when building our project we payed a lot of attention to details of the insect to successfully replicate the walking pattern. Our robot consists wooden linkages, wooden gears, and programmed servo motors. The motors are connected to gears which are attached the linkages. When the motors and gears rotate, the mantis legs linkages move.

When working on our project, we faced challenges because of the complicated anatomy of the praying mantis. One challenge we encountered was assembling the linkages in the correct fashion. We also had difficulty finding the right proportions for the linkages to insure they legs would be moving in the correct fashion.

Throughout our project, we had a few different iterations. We started our development with a small model made out of cardboard and later worked with the linkages to make the mantis legs move. Our initial iteration was a simple stationary mantis. This mantis was off proportion and unrealistic to a real life mantis. From there we had a lot to improve, like making our project mobile. Our second model was created out wood. This model was more proportional, had movement in its joints, and was larger. We also had added cardboard restrictors which helped keep certain joints from moving in the wrong direction. After these two models, we focused primarily on linkages for the legs and finding the correct proportions. For our final product, we did not end up with a mantis body because we were focused on replicating the mantis walk. I am still satisfied with the results because the walk of the praying mantis is extremely intricate and complicated.