From the bounding gait simulation, it was determined that the amplitude the legs should move through should be 25° for maximum speed and stability. It was also found that in order to obtain a suitably small turning radius(~ 3 body lengths), the amplitude of the legshad to increase by 5° on the outer radius of the turn and decrease by 5° on the inner radius of the turn. Thus a mechanism is needed to vary the stroke of the legs. This sort of mechanism is known as a variable stroke mechanism and have myriad number of applications. In order to not reinvent the wheel, research was carried out on mechanisms capable of producing variable stroke. Research revealed several candidate mechanisms that could be used to produce a variable stroke. The first mechanisms considered were locomotive valve gears. A valve gear is a device on a locomotive that The next one is a variable piston stroke mechanism used in automobile engines and uses a linear actuator to move a pivot point along a circular path to modify the stroke of a piston. Variations of this mechanism exist using more complicated paths for variable valve stroke mechanisms in engines. This was not found to particularly useful for our purposes as it produces a translational and not rotary oscillation. It also requires a circular path that is difficult to manufacturer.
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| locomotive valve gears | Hypocycloidal gear variable stroke mechanism | Variable piston stroke engine | zero max mechanism |