Faculty Advisor

Chernova, Sonia

Faculty Advisor

Nestinger, Stephen

Faculty Advisor

Padir, Taskin

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2011

Major

Mechanical Engineering

Major

Computer Science

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

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