Walking Quadrupedal Platform
PublicDownloadable Content
open in viewerThe goal of this project was to continue developing a functioning quadrupedal platform for the WPI robotics department. The quadruped is a forty-pound robot with four independently moving legs built by a previous MQP. This project consists of testing and implementing motion control systems. The primary goal of the project was to ensure that the robot quadrupedal chassis built by a previous MQP could move stably and intelligently so that it can be useful for future projects. Three main motion gaits were studied, a crawl gait, a walking gait, and a turning gait. The project implemented stable motion for the three gaits mentioned. In addition, the team also made significant system design improvements in the structure, electrical circuit, and code.
- This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
- Creator
- Publisher
- Identifier
- E-project-042419-113828
- Advisor
- Year
- 2019
- Date created
- 2019-04-24
- Resource type
- Major
- Rights statement
Relations
- In Collection:
Items
Items
Thumbnail | Title | Visibility | Embargo Release Date | Actions |
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Walking_Quadruped_2019.pdf | Public | Download | ||
PPD_Poster.pdf | Public | Download | ||
Quadruped_CAD_V6.zip | Public | Download |
Permanent link to this page: https://digital.wpi.edu/show/n009w4804