1. UCSC Turtle Robot Bio_Inspired Locomotion
By: Sina Kahnemouyi and Amir Pourshafiee

2. Why did we chose turtles
One of the first reptiles that came into existence 220 million years ago
They are evolutionary fit
They have a long life expectancy
Can live in versatile terrains and climates
Their locomotion is simple

3. Current Turtle Robots Elmer, the first robotic turtle made
(1949, by Grey Walter)
Is not completely bio inspired
2 servos per leg
Complicated design and movement
Expensive ($649.99)
Not very much bio-inspired however, the shell protects them from flipping over

4. Very simple design and motion Inexpensive
Tamiya:
Very simple design and motion
Inexpensive
Not controllable (Just moves straight)
R/C Tortoise Version.1 (By: Crabfu)
Cheap
Bio inspired design
Too many servos (complicated movement)
No plastrons make it easier to flip over and lose control

5. Preliminary Design Simple Design It can steer Stable Movement
Only one servo motor
3 Gears
It can steer
Stable Movement
Bio-Inspired
Skids on the ground like a real turtle
Locomotion similar to the locomotion of a turtle

6. Simulations

7. Simulations (Bottom view)