The purpose of this project is to take lessons learned from past MQPs, current industry products, and current research to create a quadrupedal platform capable of attaining unsupported walking. The team designed the platform to utilize series elastic actuation, force-sensing feet, and custom hardware to create a modular and easily expandable platform for future project use. CNC milling and water-jetting were used to manufacture the complete platform which was then vigorously tested under its own weight to determine its capabilities.

• 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

• Coll, Brandon Victor
• Martin, Joseph Paul
• Cole, Richard Paul
• Armsby, Zachary Robert
• Nagal, Andrew Joshua Ortega

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042518-003336

Advisor

• Fischer, Gregory S.
• Putnam, Craig B.
• Michalson, William R.

Year

• 2018

Date created

• 2018-04-25

Resource type

• Major Qualifying Project

Major

• Robotics Engineering
• Interdisciplinary

Rights statement

• In Copyright