Milli (#6) - Many-Many New Feet

Milli now has many many new feet!

Milli is a sinusoidal, bio-inspired Millipede Robot.  It is completely 3D printed and is made of recycled printer parts and a metal cloth hanger.

Apologies for the delay in posting, it has been a busy month working on my startup (non-robot) business. However, this weekend, I booted up the 3D printer and created a whole new set of golden feet for Milli.  81 new feet to be exact! (not quite a "milli" but getting closer)

Milli - millipede robot track - new feet

Mathematically, the new feet should provide more distance ground traveled with the twist of each tread. This will result in an even faster robot!  The additional ground speed will also be enhanced by the additional grip (friction) with the ground surface, resulting in reduced slippage.

Milli Robot - Tread-Track with new feet 3D CAD design

Each tread now support either 3 or 4 feet.  The 3 or 4 treads are interleaved, to prevent the feet from colliding when they are traversing the rotating helix. The resulting sinusoidal motion will spread the feet as it comes to ground contact. Then contract the feet when lifted.  -- Video coming soon!

Milli Robot - close-up of the new track-tread-links

The result of the additional stretch between the expansion and contraction of the feet will result in a faster motion for the (standing wave) motion of the tread. Theoretically, the feet can be extended a bit further, this will be interesting to see in the future!

I am currently working on the 'head' of the Milli Robot. The new version will support axle and wheel-feet (feet-wheels?) to provide steering.  In addition, I need to create a place to stow the battery and controller.

In other news...
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