Popovic, Marko B.
Many robots used for navigating and exploring are wheeled robots. These robots are frequently used as they are typically cheaper and have greater maneuverability. However, legged robots offer many unique advantages over wheeled robots. They can traverse rough terrain that can present obstacles to wheeled robots. Unfortunately, the disadvantages of legged robots, such as their difficulty to design and control and their high production costs, make them less appealing. The goal of this project was to demonstrate the feasibility of making a low-cost, legged robot by expanding on work previously done on a robotic quadruped. While many of the new elements added to this robot functioned properly, the culmination of many problems prevented this project from making a significant amount of progress.
Worcester Polytechnic Institute
Major Qualifying Project
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