Faculty Advisor

Michalson, William R.


The field of educational and research robotics is alight with development platforms that fall short of being interesting and novel. Our goal was to create a quadruped for use as an entry level research project for students and educators. Reducing cost through the use of commercially available parts combined with rapid-prototyping, we built a platform that can be used to teach and learn legged locomotion for less than $600 (half the price of a Turtlebot 2 from OSRF). Our robot was able to walk in basic form using limited actuation; this was limited by the components we chose - specifically the motor controllers for part of the actuation. We expect that using components better suited to the task could accomplish what we set out to achieve.


Worcester Polytechnic Institute

Date Accepted

April 2017


Computer Science


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Electrical and Computer Engineering

Advisor Program

Electrical and Computer Engineering