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Many failed attempts
In this video, we show several of our failed trials. Initially, the robot was supported only on its 4 legs. We found this problematic because the legs were bearing too much load, thereby inhibiting its motion. Prior to developing the final leg motion sequence we present in 4.1 Choreography of leg motion, we tried other motion sequences and found that the robot would not displace forward if all or 2 of the legs were activated in the same direction simultaneously. To produce net displacement, the distribution of weight amongst the 4 legs need to be altered methodically.
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Motion of the RoboisE
In this video, only 3 of the legs were working as we only possessed 6 transformers so we could only actuate 3 pairs of actuators independently. Furthermore, the switches on the circuit were manually operated due to a lack of time to code the motion sequence into Arduino. Nonetheless, we managed to achieve some displacement of the robot by following the choreographed motion sequence (see 4.1 Choreography of leg motion).