This project showcases the design, development, and prototyping of a mechanical walking mechanism built to autonomously pull a rickshaw. The walking system is motor-powered and simulates bipedal locomotion using a gear-based alternating leg design, with an emphasis on energy efficiency, balance, and manufacturability.
- 🔧 Mechanical Walking System powered by a single motor
- ⚙️ Gear-driven legs alternate movement using a 180° offset
- 🌀 Spring-based suspension to absorb shocks and improve stability
- 🪛 Designed for load-bearing, comfort, and manufacturability
- 🧠 Arduino-based motor control system
| Component | Description |
|---|---|
| Rickshaw | Basket with rear wheels and side support for stability |
| Frame | Wide chassis directly connected to rickshaw, built for balance and motion |
| Gear System | Alternating leg motion using a motor and 180° out-of-phase gear linkage |
| Suspension | Coiled springs at the feet to reduce impact and increase comfort |
| Motor & Battery | Converts electrical energy into kinetic energy for the walking motion |
We began by evaluating 3 different concept designs based on:
- Load bearing capacity
- Walking stability
- Safety features
- Energy efficiency
- Cost and comfort
- Integrate obstacle detection (proximity sensor)
- Wireless remote control for start/stop
- Adaptive walking for uneven terrain
- Modular frame with detachable parts