P13212: Colisionless Rimless Wheel (Wireless)

Planning & Execution

Table of Contents

Project Summary

Our aim is to construct the most energy-efficient, four spoke, collisionless rimless wheel that can sustain periodic motion. This project represents a step towards efficient robot locomotion, as it will strive to minimize energy loss from collisions between the device's "feet" (spokes) and the ground, which is currently the primary source of inefficiency in walking robots. Dr. Gomes unpowered 5 spoke rimless wheel prototype demonstrates that an unpowered system can function on an inclined plane. The next step for this project will be to produce a powered rimless wheel that works on level ground. It is also observed that high interest in walking robots exists and that previous research has tried to achieve a similar end goal as ours. However, in these devices and all other similar research, the energy loss from transport is either unknown or very high. Hence the findings and outcomes from our research will help improve current understanding and future applications of walking robots.

1-Page Project Summary.pdf

Intellectual Property Considerations

Customer Needs

public/Needs chart.jpg

public/Needs chart.jpg




public/Needs and Specs Chart.jpg

public/Needs and Specs Chart.jpg

Team Norms & Values

13212 Code of Ethics

What are your expectations for team behavior?




How will you ensure balanced distribution of work?

Pick tasks based on individual strengths

Periodically assess distribution of workload

Allow volunteer phase before assigning tasks

How will you determine roles and responsibilities?

Pick roles on individual strengths

Take into account personal interests of individuals

How will you honor the strengths of the individuals?

Empower each member's strengths

How will you interact with your Guide?

Invite to all group meetings

Ask for periodic feedback and assessment on progress

Use as a resource for planning, material selection, and a mediator for group conflict

How will you communicate with your eachother?

Email (medium/low priority)

Text Messaging (high priority)

Call (high priority)

How will you make decisions?



Utilize discussions to pick the best course of action

What are the expectations for integrity or responsibility with assigned tasks?

Complete tasks assigned

Show progress of work

Present work accomplished at weekly meetings

How will you manage conflict when these expectations are NOT met?

Individual mediation

Team mediation

Guide mediation

Project Plans & Schedules

Project Plan.xls

Project Reviews

Expectations from Systems Design Review (SDR):



Photo Gallery

Planning & Execution

Systems Design

Detailed Design


Photo Gallery

Build, Test, Document

Final Results & Hand-Off

Technical Paper