Personal Project: Biomimetics
Giraffes, Horses and Elephants - Walking
Click Here to Go See Performance & Analysis
Research
http://www.earthlife.net/mammals/locomotion.html
Giraffe walk - Giraffes and a few other animals such as brown bears and camels (see T. E. Lawrence, Seven Pillars of Wisdom) move both legs on one side and then both legs on the other side. In some cases the hind leg starts first so there is a slight lag. This is also called 'Pacing' and it is the first gait observed in young 'colts'.
https://www.youtube.com/watch?v=RIrm_tyUzQQ
Video of a giraffe walking.
Also see the Research secions of 'Dog - Walking' and 'Dogs and Horses - Trotting'.
Robot Building
1. From the 'Dog - Walk' robot, I adjusted where each legs is connected with the gears.
The black area is the part where the leg is connect to the gear.
The red line is there to help see the position of the gears.
The robot is facing towards the right.
2. Then I made another program so the robot can move following the requirement set by my product criteria.
3. After doing a test drive, I had to make minor changes to the leg - gear connections because how they were connected now didn't work well with the program to perform the gait I want.
