This week, I worked on the planning and designing phase of my new walking robot project. After analyzing the previous iteration I made, I decided that a new design was required to achieve my new objectives. The walking robot I built in my Junior year was simply too restricted in its capabilities. Due to the use of gears and fixed motion legs, the robot did not possess the ability to do much else other than walking. Furthermore, the design was flawed in the sense that its main body was rather weak. With the new robot I am currently working on, the heavy metal motors would be replaced with other methods of propulsion. The legs would be able to be lifted higher of lower depending on the situation. 

I started work on this new project by making some research on specific types of linear drives that would create the walking motion. Though hydraulic cylinders seemed promising, the size that is required to make them work was simply too large to fit on the robot I want to build. The second option was to use pneumatic pumps to propel the legs, but I found it to be quite cumbersome and hard to control. Linear actuators were also considered, but their price limited the number I could use for my project.

In the end, I decided to rely on servos for my new walking robot. They were much lighter than the metal motors and could be controlled with greater precision. Though they may not move fast enough to make my robot run, they can achieve my goal of making it climb. 

Next, I started to work on the design of the legs and body. I drew two separate sketches of the robot and translated the design into Rhino. I printed a leg and test it to make sure it worked as intended. 

Next week, I plan on finishing testing and work on improving the existing design. I will then be moving on to assembly. After the building phase is completed, I will start coding the servos to allow my robot to walk and, hopefully, climb stairs.