Popovic, Marko B.
Legged robots allow for travel over the variable terrain commonly found on Earth, which is more difficult for traditional wheeled systems. Currently, advances have been made with legged robots through companies like Boston Dynamics. These robots provided the inspiration for Robodog. Legged robots pose a variety of challenges from mechanical design to control, and as a result, WPI has not produced many successful legged robots. It stands at 21 inches and weighs 18.9 lbs. Robodog was designed and manufactured from the ground-up, and is the first step toward cheaper quadrupeds. This was accomplished using servo motors and a parallel elastic system to decrease motor load and increase efficiency. After extensive experimentation our quadruped is capable of successfully walking.
Worcester Polytechnic Institute
Major Qualifying Project
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