Event
Proposes computational design method for LEGO walking robots
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Siqi Li, Fancheng Gao, Chi-Wing Fu, and Peng Song published a paper on arXiv proposing the first computational design approach for LEGO walkers, enabling multiple gaits beyond stable walking. The method has two parts: first, a specially designed gear-linkage mechanism controls each leg's foot trajectory, combining a pair of 3D-printed non-circular gears with LEGO Technic mechanisms; second, each leg is driven by an independent motor, with a concise and flexible control algorithm synchronizing the timing of multiple legs' motion. The authors state that they designed multiple LEGO walkers on this basis, demonstrating different gaits and appearances, and built some physical prototypes to verify real walking capability.
Report timeline
- Make it Walk: Computational Design Methods for LEGO Walkers
The paper proposes the first computational approach for designing LEGO walkers that support multiple gaits beyond stable walking. The method has two parts: first, a specially designed gear-linkage mechanism controls the foot trajectory of each leg, incorporating a pair of 3D-printed non-circular gears working with a LEGO Technic mechanism; second, each leg is driven by an independent motor, with a simple yet flexible control algorithm synchronizing the timing of multiple leg motions.
arXiv cs.RO ·