Stafford, Kenneth A.
In this project, we developed and modified the Anthropomorphic Robotic Movement System (ARMS) to allow for the simulation and implementation of low-energy walking, standing, and control. The robot underwent an in-depth analysis of its mechanical design, including a retrofit of the cabling system, upgrades to the series elastics, and an implementation of a mechanical gravity compensation system using springs and variable radius pulleys. The electrical system was completely overhauled with new microcontrollers and sensors for better control of the robot. A new control schema with gravity compensation was implemented which allowed the robot to stand. The combination of the mechanical, electrical, and control changes were evaluated via standing and leaning tests, and walking simulations.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering