The Design and Control of Robotic Legs while Pedaling a Bicycle

By: Douglas Schwichtenberg

Legs• Constructed from wood• Model of my legs• Joints held together by

threaded rod

Bicycle and Setup• Schiwinn Sprint

• Cycleops stationary trainer

• Air muscles• Act similar to real

muscles• Controlled by

pressurized air• Each muscle and

fitting individually engineered

Movement

Estimated completion: September 2009More to come.