Documentation for walking loop


This is the walking loop I made today. The original size is too big for uploading so I save this smaller version for documentation.

One wired thing I want to mention before explaining my work is that exporting the file as a video, I found out that my hand appeared in a few frames, so I went back to DragonFrame to check out which frame I should redo, and I went through every frame but couldn’t find my hand in Dragonframe… I am feeling very confused right about this problem right now.

So I spent two hours making these legs. I looked up on line for medical graphic of what human legs should look like and then I draw them on these hard paper. I cut them off and then sewed every part together. I sewed one knee too tight that it couldn’t move very smoothly. Having this experience, I sewed other joint more loose.

The image of the old man is cut from a potato chips bag. I bought it from Familymart initially with two other different kinds of potato chips, planning to make a story about potato chip package story. But then I realised that for this kind of story, I may need more than three kinds of packages, so I changed my mind.

The vegetables and fruits in his arms were cut from a food magazine. I tried to glue them together with the man so that the position wouldn’t change too much every time I move the man.

Simulating the walking process is no easy job. I even got my friend took a video of me walking so that I could observe it more. But once I got on the working station, everything becomes harder. I find it hard to continue the work once I stop because I would forget where the next position of the legs should be. So this work require high concentration.

I redid it several times before I could finally use this one, although it is still not perfect yet. After several rounds of walking, I eventually found out some rules about walking, so the last step he took was better than better. (The one step before he fell off.)

Final Assignment

My Character is finally complete. I have attached a delta structure as a neck to the already built head I had. Primarily, the delta structure could not with hold the weight of the head. hence, I added a spring under the delta structure to assist the weight above.

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After the spring was added, I attached a board that I could use to anchor the head of the duck.


The head was attached to the board which was already on the delta structure. In order to give my character a duck appearance, I covered it with a white feathery material.

In  addition, I faced problems while trying to control Wi nun-chunk and delta structure using the same processing code. Hence, I was supposed to use two separate arduinos to separately control the two systems.

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Assignment 5

This weeks challenge involved using inverse kinematics which was one of the hardest things we had to do all semester in my opinion, I used 6 different segment made out of carbon fiber and i attached every 2 together with the rubber bands and the connected the three with rubber bands on the top as well using three different servo motors. this was the end result kinda funny:


All animatronics have an audience. What is the main emotion you want to transmit to them?

– My animatronic is called shippes and he is a very playful and joyful creature i want him to transmit very positive energy! i want people to look at it and feel that it is “cute” in a way and want to interact with it, this is mainly because i want it to be an animatronic that is used for kids to play with without feeling intimidated by its techy nature.

Your character lives in a world, has a personality and a story behind. Which one?

– He is a very goofy character, he is a pet from a martian family so he is very playful as all pets are! he really is not the smartest creature but he is very loving and funny!

How does the participatory design methodology work on your own animatronic project?

With regards to participation i believe my character can interact with kids and adults because it is so simple! i wish people can interact with it by talking to it and it acting all goofy!

Assignment 5

This is the hardest assignment I’ve had in this class. Eventually it works for one second, and destroyed itself. Actually at first I put the servos in the wrong directions and it did not even move. After changing the directions, two things made it difficult to move: 1. The sticks were too long and it was hard to be controlled. 2. The coordination between the three servos. I think eventually the sticks was the biggest problem that needed to be solved.

Saphya: Forrest Stump (The Making Of)

Week 5 Reverse Kinematics

In order to build the neck structure of my character, I have used three servo motors in equilateral triangles.


Originally, I made use of carbon wires, however their flexibility at the hinges was really limited. This made movement really awkward and slow


Hence, In-order to make movement between the hinges more flexible, I was supposed to make use of metal and plastic bars. The connection between these bars was made using rubber bands.

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There was a problem during the first few tries. Actually the 9V power supply to the Arduino is not capable of providing enough power to all three servo motors. Hence I was supposed to use a 12V power supply.




  1. My character’s name is Donald, and he is a bird of some kind. The emotion that I would want to transmit through my character is the emotion of fun and friendliness. Donald has a funny looking mouth and a bright circular eyes. In addition I will have to build him a wing so that it can be more friendly and interacting with its audience.
  2. Donald is actually one of the very few survivors of his “Turkey” friends who have been viciously sacrificed for Thanks giving. He used to cry on a daily basis since he misses his friends badly. He always used to condemn the human race for taking away his friends. However, one day he mate a very sweet young vegetarian girl, who showed him that not all humans are savage. After that day, Donald understood hate will never defeat hate, and he decided to show care and smile to whoever he sees. He sometimes gets fragile while thinking of his dead “Turkey” friends. However, he never fails to show his kind soul and bright appearance to anyone approaching him.
  3. When it comes to participatory design methodology, I have actually used every single class to come up with something awesome, and I have tried to be part of the character I was building. Donald currently has eyes that move around from one member of audience to the other conducting a special connection and interaction. In addition Donald can speak well with its audience due to its well designed mouth, and also perform some lip syncing performances to the audience. Also, Donald can shake hands through his wings and share special moments with those in front of him. All this his did not occur within a single night, however I have always tried to be part of Donald’s world and imagine what I would want from Donald as a User.

Assignment 5: Inverse Kinematics

This week was the most difficult for me; I used carbon fiber for structure and rubber bands as joints to try and simulate the movements of a delta structure. Each of the rubber-band jointed, carbon fiber “limbs” attached to the head of a servo motor. I was able to attach create the carbon fiber “limbs” with tape, and use instaform to attach these limbs to the heads of the servo motors.




However, as soon as I did so, I encountered a problem running the code through Arduino and Processing; the limbs would move in jerky, synchronized movements. After double-checking the wiring, we realized it was probably an issue with the exterior power source. We switched out 9V for 12V, and found that the limbs were able to move more naturally. I taped the servos into a triangular pattern, so that the angle of the limbs would help them work together in order to create more natural movements.




While I am relieved to have figured out the problem with the power source, I think I am going to redo my delta structure. I was irritated by the instability of the carbon fiber and rubber band-jointed “limbs”, and think that next time I will use rubber bands and metal supports like the example piece. I also want to switch back to the mini-servos, because I do not need the power of the larger ones; I intend to utilize inverse kinematics for the use of the tongue.

For my final project, I want to do a zombie Santa Claus; I am fascinated with the idea of the “uncanny valley”, where humanoid androids are close enough to humans to be unsettling. Since our theme is Christmas, I wanted to create a Santa Claus that provoked a mixture of shock and horror to its audience – something that is obviously “uncanny”, with a vaguely humanoid appearance and grotesque, inhuman movements. I want this Santa Claus to be, not only able to open and close his mouth or move his eyes, but also to have violent tongue movements.

Zombie Claus lives in the year 2116, when the world has succumbed to the zombiepocalypse; living in the North Pole has helped preserve his body from more advanced stages of decay. He spends most of his time repetitively shuffling around his old workshop, mumbling and moaning old Christmas carols that have managed to latch on to the remnants of his memory, and staring off into space; Zombie Claus is not a man for emotions or reflections, but he’ll take you up on a good brain if you have one.

Participatory design methodology is where the end user is involved in every step of the creation process; since we are all the creators and end users of our personal projects, we have used each class to learn and perfect new concepts. When I first started this class, I did not have a “prototype” or “end concept” in mind; I connected these concepts organically, through trial and error each class period. I was able to see what worked with my classmates’ projects, and how they responded to my own; in essence, we have been adhering to participatory design methodology since day one.

Assignment 4: Hardwire + Instaform

I decided to start building a skeletal-like mask for my final project. I first twisted hardware and bent it into the outline of a face; I added another cross-section of hardwire in the shape of a nose and, finally, one to simulate the cheekbones. Then I coated and connected the hardwire cross-sections in instaform, because I liked the texture and quality that instaform gave the features.

Pictured is the initial head (sans the jaw):




This week’s reading was my favorite, because it overlapped directly with one of my other courses: American Superheroes. In my other class, we also studied Toppfer’s Law and how humans are able to humanize inanimate objects and find “faces” in them. We also studied how an audience is able to relate more intimately with the simplest faces, and are able to connect more with the traditional “smiley face” than a much more realistic face, because we are able to visualize ourselves in the emptiness. I thought this also related to the concept of realism we talked about relating to androids; we find it more difficult to relate with androids that are realistic but not quite human (due to the phenomenon of the “uncanny valley”), than we find it to relate with less humanoid robots. I liked how this article related these concepts to interactive media, and how Toppfer’s Law shows that we can humanize even our interactions with a computer.

Assignment 3: Eyes

For this week’s assignment, we had to make a pair of servo-powered eyes that could move in an up-down and side-to-side motion, mimicking the motions of real eyes. I used ping pong ball halves for the eyes, and originally attached the two pair of eyes to two hardwire axes, which connected to two separate servo motors. I found that the hardwire in the original position bent too easily; I used instaform to try and stabilize it.




I was dissatisfied by the jerky, out of control movements; I found that the hardwire (and even the instaform) did not offer enough stability, and the axes did not allow for enough flexibility in movement. Furthermore, the ping pong balls were easily warped by erratic movements; the movements of the eyes had to be too carefully controlled. For my final project, I think my best bet will be to 3D print a mechanism for the eyes, and attach the ping pong balls to this.

For this week’s reading, I chose “Transmitting and Decoding Facial Expressions”, which was one of our more technical readings of the semester. It shares the results of an experiment in which participants identified the emotions expressed on certain faces, which attempts to answer the question of whether or not the face evolved to send expression signals with low correlations to one another, with the brain “decorrelating” and strengthening these signals. I found the technical terms and experiment outline difficult to understand, but liked how it related to the previous week’s discussions on androids and expressions. Last week’s reading raised the philosophical questions of creating androids, and how androids can be used to better understand how humans works. While this article did not relate directly to animatronics, it is an important insight into how we decode human facial expressions, and how we can mimic these on an android.