Clumsy Walker

Justin Kufro – Fall 2018

The clumsy walker is a short-range movement apparatus capable of carrying a respectable-sized payload. It is constructed with laser cut 6mm plywood, two 1/4-20 screws & nuts, and two 9g micro servos. The device is expertly programmed to randomly choose leg positions between 0 and 120 degrees every 500 milliseconds to embody a clumsy and indecisive personality.

Video

Files

demo2_3d_files

Arduino Code

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#include <Servo.h>
 
// CONSTANTS
const int LEFT_SERVO_PIN = 10;
const int RIGHT_SERVO_PIN = 9;
 
const int MIN_LEFT_SERVO = 0;
const int MAX_LEFT_SERVO = 120;
// right servo is mirrored to the left so min and max need
// to be inverted
const int MIN_RIGHT_SERVO = 120;
const int MAX_RIGHT_SERVO = 0;
 
// initialize other variables
Servo left_servo;
Servo right_servo;
 
void setup() {
  Serial.begin(9600);
  left_servo.attach(LEFT_SERVO_PIN);
  right_servo.attach(RIGHT_SERVO_PIN);
}
 
void loop() {
  int left_pos = random(MIN_LEFT_SERVO, MAX_LEFT_SERVO);
  int right_pos = random(MAX_RIGHT_SERVO, MIN_RIGHT_SERVO);
   
  Serial.println(right_pos);
 
  left_servo.write(left_pos);
  right_servo.write(right_pos);
  delay(500);
}