Fischer, Gregory S.
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.
Worcester Polytechnic Institute
Major Qualifying Project
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