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.

• 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

• Lu, Danny

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032019-133746

Advisor

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

Year

• 2019

Date created

• 2019-03-20

Location

• Worcester

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright