After continued low-fidelity prototyping, we decided to use a coupling of foam board and bolts as they allowed for rapid iterations and effective joints. Additionally, we started to implement 360 degree, continuous servo motors which would evaluate the efficiency of our leg mechanisms. Within a few days, we had developed a functional, two-legged Walker. The Walker’s two legs, positioned at the front end of the chassis, would alternate and pull itself along on its belly.
The following iteration, Version 2, featured a set of four legs jointed together through a coupling of bolts and lock nuts. Version 2 informed us of issues regarding stability, movement, speed, weight balance, synchronizing back and front legs, and part design. Version 3 addressed some of these issues, however, there were still some design oversights regarding the design of individual pieces.
The oscillating pump’s design started to take shape towards the end of Phase 02. We decided to pursue a simple pump that would be controlled by a dedicated servo motor. The motor would drive a bolt up and down a rail that was embedded into a two-bar linkage system. By attaching the two-bar linkage to the main chassis, we were able to effectively create an oscillating pump that would be strong enough to carry the weight of the shell.
We explored multiple designs for the shell, ranging from a puzzle-based systems to organic curvatures.
The puzzle-based shell, in particular, consisted of roughly 100 different triangles, each with interfaces to join to other pieces. However, we quickly found that the degree of movement was far too small to communicate the rhythmic motion of breathing. Additionally, we found that we need a greater number of pieces to achieve the desired effect and that the system would be far too heavy for the oscillating pump.
A more promising design was found when we connected a number of basic triangles, taped at the edges, to form a shell of interconnected triangles. The resulting motion provided the fluidity and flexibility that we were hoping to achieve. The shell design was the perfect balance between abstract form and organic motion. Thus, we decided to pursue a full-scale, paper version that integrated a dowel-based spine to add structural support. The design allowed for structural rigidity without compromising its organic motion.
The following iteration, Version 2, featured a set of four legs jointed together through a coupling of bolts and lock nuts. Version 2 informed us of issues regarding stability, movement, speed, weight balance, synchronizing back and front legs, and part design. Version 3 addressed some of these issues, however, there were still some design oversights regarding the design of individual pieces.
