>PROBLEM DEFINITION

A school is interested to showcase in its biology lab about how different animals and insect walk. They desire that

there must be atleast 6-8 different walking bots so that the children can learn about diversity in the way the bones

are arranged for walking.

Additionally the children must also be able to interact with the bots and control their movements. Due to space

constraints in the lab, the bot must be as small as possible.

It should be attractive,safe & easy to use. With easy movement and stability.

It should not cost more then 4000 rs.The weight of the bot should be 1.5 kg.

The battery should come upto 2hrs per charge.

The dimensions of the bot should 1ft * 1ft * 1ft and should be completed within 3 months.

It should Steer in all directions.

It should be able to sense the object.

It should demonstrate proper walking mechanism.

It should have proper communication with controller and bot.

It should indicate the presence of obstacle.

Use case study

INPUTS AND OUTPUTS OF THE SYSTEM.

Table 4

Inputs	Outputs
1.Sensing	1.Movements
2.Commands	2.Sounds
	3.LED light
	4.Wireless communication

>User action v/s System action

Functions

table 5: Walking mechanism

User action	System action
User starts the bot	bot starts
User gives the command with controller	Controller sends the command
	Bot receives the command sent
	Bot analyses the command sent
	Bot starts walking

Table 6: Sensing

User action	System action
	Bot senses the obstacle
	Bot indicates to the user
	Bot stops walking
User gives command to take turn	Bot receives command
	Bot analyses the command
	Bot takes turn

Table 6: Communication

User action	System action
User gives command via controller	Controller sends command
	Bot receives command
	Bot analyses the command
	Bot functions

Functional Chart

Glass Box

Morphological Chart

Functions	Mean 1	Mean 2	Mean 3	Mean 4
1.Sensing	IR sensor	Ultrasonic sensor	PIR sensor	proximity sensor
2.Connectivity	Wired communication	Bluetooth	Wi-fi	Radio controller
4.Actuators	Stepper motor	DC motor	Servo motor
5.Walking mechanism	Klann's linkage mechanism	extra simple walker	Chebyshev's lambda mechanism

Concept Designs

• Design 1: Simple walker mechanism

• Design 2: Theo Jansen mechanism

• Design 3: Klenn's Walker mechanism

• Design 4: Chebyshev's lambda mechanism