FINAL STRETCH

In Phase 03, we decided to do a complete overhaul of every component in the design to create a more efficicent MOMO. We further considered which materials would offer both aesthetic and functional appeal.

We worked on the LED lighting system we were planning on in the begining for Phase 3 as well. We experimented with multiple materials to get a grip on how each handles light diffusion and projection. We experimented with tape and cardboard, foam, MDF and zipties, and arcrylic. We landed on white arcrylic after much prototyping. Arcrylic diffuses the light from the LEDs efficiently. It brings out the organic beaviour of the light. Combined with the slits and holes in each piece the light stands out in a room and is a plesure to ones visual senses.

 

Initially the body’s structure was comprised of a small chassis and an octagonal frame as it allowed for more space for our proposed 8-leg system. Now that we have scaled down the design to accommodate a 4-leg system, we decided to eliminate the frame and create a chassis that was capable of housing an Arduino, a breadboard, a battery pack, and an LED lighting system.

We altered the design from four, two-pronged walls to two solid walls that span the entire length of the body. A series of holes line the top-end of the wall to act as a threading interface to which we would attach the shell mechanism. The refined design not only allows us to anchor the shell to the chassis, but it also minimized the total weight.

The initial design proposed an 8-leg system that utilized four servo motors. We quickly realized that such a system was impractical so we opted to simplify the design to a four-leg system that only utilized two dedicated servo motors. The alteration minimized the total number of pieces by a quarter and allowed the design to focus more on being mechanically synched rather than electronically synched.

 

The legs as a result of mechanical sync improved weight balance/management, ground clearance and movement speed substantially.

 

With the new legs we are able to hold more weight then before comfortably while maintaining a good pace. With the new system MOMO is off the ground consistantlly no longer riding the ground.

 

Along the way we began to program in behaviour. According to the light usage in the room and user interactions. Light sensors recieve data in the room. The values it takes in will affect the servo motors as well as the lighting. From normal behaviour to eventually not working entirely. Touch sensors act as the medium between user and MOMO interaction. Giving MOMO attention will render him back from the the panic state to normal.

The shell had undergone a variety of changes, from material consideration to interfacing features. We decided to move away from heavy, 1/8-inch MDF material and use 1/16-inch, white acrylic for our interconnected shell. Each acrylic triangle features three slits along its edges and holes at each of its corners - the former allows LED light to pass through, while the latter allows for reliable interfacing through zip ties. Additionally, the acrylic affords the diffusion of light which enhances the design’s aesthetic luminescence.

MOMO