Conclusions:
We accomplished our goal of creating two identical, working Theo-Jansen legs that had the desired motion on the foot joint. We were also able to motorize the design and move the legs properly without having to turn anything by hand, using
Design with two Jansen legs coupled with the attachment of stepper motors that drives the motion worked as intended. The resulting motion is similar to our analysis for a forward motion, and the simplicity of using dowels instead of screws helped with less friction in the joints. This idea was a great decision because the motion was better than using the screws.
However, we conclude that our design is not robust for fast motions, and the areas for improvement are:
- Further improving the joint stiffness
- Using higher-powered stepper motors
- Increasing the number of legs