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\title{Servo actuated bipedal walking robot called "Stride Gear"}
\author{A project in IN5590 by Jakob Solberg Berntzen \\ E-mail: jakobsbe@ifi.uio.no}

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\textbf{Stride Gear}
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        \section{Intro}
        The robot move by alternating between normal walking and gliding on its motor-driven belt wheels, allowing it to walk at high speeds as if it were on a conveyor belt, make sharp turns, and step over or onto obstacles.
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            \item Design the robot to walk with smooth, natural movements.
            \item Ensure the robot can step over or onto obstacles with ease.
            \item I want the robot to be capable of rolling across smooth surfaces and walking up uneven terrain, like staircases.
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        \section{Tools}
        The most important tool I've used is a 3D printer. All the components not listed below were 3D printed. Additionally, I've soldered some components and used glue for assembly.
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            \item Dynamixel AX12
            \item Dynamixel AX18
            \item LiPo Battery
            \item Arduino Uno R3
            \item Dynamixel Arduino Shield
            \item DC motor
            \item MPU-6050
            \item ROB-14450 motor dirver 
            \item Bread board
            
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        \section{Code}
       I programmed in C/C++ using the Arduino IDE. Below, you'll find a list of the libraries I used:
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            \item Dynamixel2arduino.h
            \item Wire.h
            \item SparkFun\_MPU9250\_DMP.h
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    \section{Conclusion}
If I were to build this robot again, I would definitely choose different materials for the wheels and feet—likely incorporating more metal and relying less on 3D printing. I’d also opt for an off-the-shelf wheel system instead of a custom-printed one.


Another area for improvement is the electronics. I could have created a neater system by using a development solder board or, even better, producing a custom PCB with all the required components. However, due to time constraints, this wasn’t feasible.

I encountered some challenges, such as the initial motor not being powerful enough, which required me to replace it. While the robot isn't fully functional yet, I believe that with more time, it could be completed and optimized. Given the time limitations, I’m satisfied with the results achieved.
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    Credit: \\
    
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        \item https://www.thingiverse.com/thing:3937170
        \item https://grabcad.com/library/socket-dynamixel-3
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