This is the foam core model of the froggy. While making this we realized that the placing of the joints between the legs is extremely important to the function of the legs. We would have to be very careful about where the joints go and what the joints are made out of.
This is the final lego model. We went through several lego models before we were able to make the four legged model. However, we kept making the iterations on the previous lego models before we took pictures of the failed models. Each side is the same thing only flipped around and the two sides are offset so that the legs move opposite to each other. The motion of the legs mimics the motion of a four legged animal. However, the lego model horse-bot doesn't balance very well.
Some solutions to the balance problems that we came up with is adding feet to the legs which actually did help. However, another solution might be to add a tail of some sort that helps the robot to balance when it is in unstable positions.
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