Speed Test
The speed test assessed how quickly the robot moved over flat ground. Each square on the grid beneath the robot had a side length of 0.5 inches. The test also determined how efficiently the robot moved. This was done by determining what percentage of expansion was converted into forward movement.
Step efficiency was calculated using the equation distance traveled per step / (Inflated length-uninflated length)
Crawling Motion:
- Average uninflated length: 7.5 inches
- Average inflated length: 15 inches
- Average distance traveled per step: 4 inches
- Step efficiency: 50%
- Cycle time: 8 seconds
- Speed: Inches per minute 45
Inchworm Motion:
- Average uninflated length: 11 inches
- Average inflated length: 14 inches
- Average distance traveled per step: 3 inches
- Step efficiency: 100%
- Cycle time: 3 seconds
- Speed: Inches per minute 60
Maneuverability Test
The maneuverability test assessed robot agility. Robot driving performance was evaluated.
Observations: During testing the robot reliably turned in the desired direction; however, the degrees of rotation varied from 15 to 90 degrees per cycle.
Climbing Test
The climbing test assessed the robot's ability to climb on top of and over obstacles. Two types of obstacles were tested.
- The robot climbed up a 1.5” step, thus increasing elevation
- The robot climbed over a 3” by 3” wood plank, returning to the original elevation
Climbing an 1.5 inch step
- Time: 45 Seconds
- Total Movements: 14
Climbing over a 3” by 3” plank of wood
- Time: 60 seconds
- Total Movements: 34
Observations: The robot's climbing performance appeared to be adversely effected by the weight of the air tubes on either end.
Incline Test
The incline test assessed the robot’s ability to move forward up an incline.
Average Speed: 15 inches per minute.