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 platform capable of delivering a payload over terrain otherwise impassable by wheeled vehicles at a speed of 5 feet per second. The robot uses a spring system in each of its legs for energy efficient locomotion. The 4ft x 3ft x 3ft freestanding four legged robot weighs approximately 300 pounds with an additional payload capacity of 30 pounds. An important feature of the robot is the passive, two degree of freedom body joint which allows flexibility in terms of robot motions for going around tight corners and ascending stairs. 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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