Faculty Advisor

Padir, Taskin


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.


Worcester Polytechnic Institute

Date Accepted

March 2010


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Electrical and Computer Engineering