Faculty Advisor

Popovic, Marko B.

Abstract

This report presents the very first effort aimed to develop a legged terrestrial robot actuated by Hydro Muscles, which are elastic tubes actuated by fluid, constrained by fabric that extend and contract emulating life-like performance of biological muscles. The team designed and manufactured a 30-pound quadruped “dog” using versatile aluminum extrusions and minimally machined components. The team tested and observed a variety of bounding gaits that resulted from different skeletal/muscular geometries and actuation times. These tests yielded varying jump heights and robot forward velocities. Future projects should extensively research optimal leg kinematics to maximize the mechanical power the muscles apply on the robot.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2015

Major

Mechanical Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Physics

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