Title

SmallKat MQP

Faculty Advisor

Bertozzi, Nicholas

Faculty Advisor

Fichera, Loris

Faculty Advisor

Fischer, Gregory S.

Abstract

The SmallKat MQP is providing a quadrupedal robotic platform to help research and design new gaits, test sensors, and teach engineering students. Current options limit small companies, universities, and hobbyists due to their complexity, large size, and immense cost. SmallKat is a low-cost robotic platform with customizability and adaptability in mind. To allow for a multitude of gait designs, it is designed with 4-DoF legs controlled by powerful custom servo motors, 9-DoF IMUs, and custom microcontrollers. The body is constructed using additive manufacturing with PLA plastics, and even has a continuum tail for added body control. The higher level controller runs on a single-board computer for added performance when computing kinematics and dynamics, and controlling different gaits.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2019

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Robotics Engineering

Advisor Department

Computer Science

Advisor Department

Mechanical Engineering

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