UCSC Turtle RobotBy: Sina Kahnemouyi and Amir Pourshafiee

Bio_Inspired Locomotion

Why did we chose turtles

• One of the first reptiles that came into existence 220 million years ago

• They are evolutionary fit• They have a long life expectancy• Can live in versatile terrains and climates• Their locomotion is simple

Current Turtle Robots

Not very much bio-inspired however, the shell protects them from flipping over

2 servos per legComplicated design and movementExpensive ($649.99)

Elmer, the first robotic turtle made(1949, by Grey Walter)Is not completely bio inspired

Tamiya:Very simple design and motionInexpensiveNot controllable (Just moves straight)

R/C Tortoise Version.1 (By: Crabfu)•Cheap•Bio inspired design•Too many servos (complicated movement)•No plastrons make it easier to flip over

and lose control

Preliminary Design

• Simple Design– Only one servo motor– 3 Gears

• It can steer• Stable Movement• Bio-Inspired

– Skids on the ground like a real turtle– Locomotion similar to the locomotion of a turtle

Simulations

Simulations (Bottom view)