The Reach Goal: Multiple gaits and closed loop

For our reach goal, we decided to implement multiple gaits for the Soft Stepper (wrapped in an API) and implements a simple closed loop in the system.

In addition to the our basic walk, we were able to implement a faster (and far more complex) "power walk" gait, as seen here.

Additionally, we were able to implemented a turn gait.



Currently, our closed loop system is a collision avoidance module. This required the use of a ping sensor and wifi module connected to an additional mbed which was installed directly on the Soft Stepper.