For some reason our little horsebot is not working as well as he did the first day that we put him together. We think that this is partially due to the fact that horsebot's legs are not moving as they should. At first we liked the fact that his legs didn't move at the same time because it made him more unpredictable and life-like but now it just makes him fall backwards all the time so we're not so excited about it anymore.
Therefore, we made several iterations:
1. We made the back legs with feet on them. If you remeber from the last post, we had taped on lego feet onto the horsebot so we were just making that into delrin. It does help the horsebot to balance a lot better than before.
2. We put a single axle through the motor so that the legs are moving at the same time in relation to each other. This helps with the balance also and this is what we originally wanted so this was a good change.
3. We played around with the weights and the balance of the motor and the battery. We discovered that the balance worked much better when a lot of the weight was on the front so we put the motor at the front end of the base and the battery on the back end of the base. This helps the horsebot to walk because it makes sure the front legs are on the ground to pull it forward instead of just falling backwards.
We still have to reprint the base to make it tight fit so that he can stay together on his own (hopefully) and not have to be taped together!
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