Faculty Advisor

Fischer, Gregory S.

Faculty Advisor

Michalson, William R.

Faculty Advisor

Putnam, Craig B.


The goal of this project was to continue developing a functioning quadrupedal platform for the WPI robotics department. The quadruped is a forty-pound robot with four independently moving legs built by a previous MQP. This project consists of testing and implementing motion control systems. The primary goal of the project was to ensure that the robot quadrupedal chassis built by a previous MQP could move stably and intelligently so that it can be useful for future projects. Three main motion gaits were studied, a crawl gait, a walking gait, and a turning gait. The project implemented stable motion for the three gaits mentioned. In addition, the team also made significant system design improvements in the structure, electrical circuit, and code.


Worcester Polytechnic Institute

Date Accepted

April 2019


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

Advisor Department

Computer Science