This project addresses the inflexibility of modern robotics by developing a modular robotic platform, capable of using various modules that can be added and removed to a base unit in a short amount of time. The scope of the project limited development of modules to a 3-DOF leg. The proof of concept was established by developing a main communications board capable of detecting attached peripherals, and individual leg circuit boards capable of full PID control utilizing inverse kinematics to precisely place the end of the leg. Mechanical issues prevented the leg constructed from being fully functional, however plans have been developed to address all issues found in the development of this platform.

• 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

• Wajcs, Karl Bowen
• Garcia, Daniel Raymond
• Bienia, Matthew Richard

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-031610-151722

Advisor

• Padir, Taskin

Year

• 2010

Date created

• 2010-03-16

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright