Faculty Advisor

Padir, Taskin

Faculty Advisor

Torres-Jara, Eduardo

Abstract

Caminante is a bipedal platform design to test sensitive walking. The robot was designed with all the characteristics that were deemed necessary in order to test successfully develop and test new control and wait generation systems that can be applied to all legged robots. A twelve degrees of freedom platform with series elastic actuators that mimics the major human leg joints was developed and constructed. The system uses cable driven SEA’s for compliance and force control. Two 36 tactile sensor arrays capable of measure shear and normal forces on the sole of the feet were developed to measure the forces generated by walking and develop better control schemes for the bipedal system.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2013

Major

Electrical and Computer Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

ECE

Advisor Department

Robotics Engineering

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