Faculty Advisor

Fischer, Gregory S.

Faculty Advisor

Michalson, William R.

Faculty Advisor

Putnam, Craig B.


The goal of this project is to create an independently moving quadruped. The platform for this project is a quadruped built by a previous WPI project. The platform is built as a base for attachments to enhance the use of the quadruped. The quadruped is a forty pound, four-legged robot. The project studies various walking and crawl gaits to translate the quadruped body at a stable speed. The team was able to attain unsupported walking through various hardware updates to its legs and electronics that resulted in weight reduction to improve walking. There were also significant improvements in the software structure and gait design of the quadruped.


Worcester Polytechnic Institute

Date Accepted

March 2019


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

Advisor Department

Computer Science