By: Ameen Alattas

In order to meet requirement 8 levels 2, it was decided to calculate the speed of the servos and the time it will take the Micro BiPed to complete the course. To calculate the speed of the servos, the group had to analyze the way the BiPed walked.  The leg could sweep about 40 degrees. With Yakub’s help it was determined that the length of the leg from the upper sevo to the ground is 6.1 inch.  Therefore by using trigonometry,

6.1 inch * sin (40) = 3.921inch, which equal 0.0995934 meter.

Assuming the speed of the Biped could be 0.18 m/s, the group could use the same equation the SpiderBot used to get the time

(0.0995934)/(0.18m/s)= 0.55333s

Since the Biped using two legs to move, I divided the time by 2 and the result come to be 0.27666s

As one can see from this link.

For ROFI motion before the leg Sweep forward it goes back about 30 degrees. Therefore,  divide the time by another 2 to recieve

0.2766 / 2= 0.138333s Speed of the servo

Therefor, to calculate the time it will take the BiPed to complete the course we used this equation

60sec/0.9s= 67

67 x 0.0995934 = 6.6725 per minute

Since the course is 70ft = 21.33 meter,

21.336/6.6725 = 3.197 minute

Because the BiPed is using both legs to move we multiplied by 2 => 3.197 x 2= 6.395

Therefore, it should take 6.395 minutes to complete the course.