Team Sabertooth aimed to design and realize an innovative high mobility, quadrupedal robot capable of delivering a payload over terrain impassable by wheeled vehicles at a speed of 5fps. The robot is designed to ascend and descend stairs. The robot uses a spring system in each of its legs for energy efficient locomotion. The 4'x3'x3' freestanding four legged robot weighs approximately 300lbs with an additional payload capacity of 30lbs. The passive two degree of freedom body joint allows flexibility in terms of robot motion for going around tight corners and ascending stairs. The system integrates sensors for staircase recognition, obstacle avoidance, and distance calculation. A distributed control and software architecture is used for world mapping, path planning and motion control.

• 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

• Zalutsky, Anton Konstantinovich
• Chernyak, Vadim
• O Rourke, Jeffrey Eugene
• Flynn, Timothy R
• Morgan, Jonathan F.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042711-185653

Advisor

• Padir, Taskin
• Nestinger, Stephen
• Chernova, Sonia

Year

• 2011

Sponsor

• National Instruments
• MicroStrain
• Onvion

Date created

• 2011-04-27

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering
• Interdisciplinary

Rights statement

• In Copyright