My next robot project is officially known as the Walk 'N Roll Project. I was calling it the Octapod Project, or something like that, but now the robot has an official name.
If you are wondering why I have named it Walk 'N Roll, and you have not read my previous robot threads here, it is because this robot will have eight legs and four wheels on supports that can be individually steered and fully retracted up under the robot’s body. The wheels can also be raised and lowered to various heights for different clearance situations.
I have a complete section devoted to Walk 'N Roll on my website, which you can find a direct link to in my signature. Until then, here are a few pictures that are real close to what Walk 'N Roll will look like when it is finished.
Here you can see both decks. The lighter deck is the top deck and the darker one is the bottom deck whee the wheel towers and legs all attach. The wheels retract up into part of the lower deck, so I had to make cutouts in that deck to accomodate them. I wanted the wheels to be as far out of the way as possible for walking. With my CAD software, Alibre Design Expert, I can actually edit subassemblies right within a higher level assembly. In this case, I edited the bottom deck, which is part of the body subassembly, while I had the main Walk 'N Roll assembly open. This made it very easy to create the cutouts in the bottom deck to accomodate the retracted wheels. Using configurations for assemblies, I can also show the robot in different poses now. I have four different configurations for the legs and two configurations for the wheels at present.
For leg retraction, I can just as easily have the legs form a sort of tee pee when they are retracted. I may create another retraction configuration to show this.
There arer really just two differences between what I show here and the way Walk 'N Roll will actually be when it is complete. Its body will be about three inches wider and an inch or so longer, and it will have 6 inch legs instead of the 4 1/2 inch legs this version has. This body is not wide enough to accomodate retracting 6 inch legs. Walk 'N Roll will definitely have a custom body.