As part of ME-400 (Special Problems for Advanced Undergraduates), I continued work on the origami worm robot. The main focus was on forward motion. All of my work can be found on this GitHub repository. I started a log to keep track of my work after my first two weeks.
Before I could continue working directly on forward motion, I needed to redesign everything except the spring. The past origami worm was attached to supports with clear tape, the string was attached with knot and a piece of tape, and the robot was actuated with two small servo motors. Attaching the spring was slow and weak. The string would slip often. The motors only had open loop control, and the motor shaft was hard to design custom pulleys for.
Clamp system for attaching the origami spring to supports
(to be continued)
