Team Sabertooth aimed to design and realize an innovative high mobility, quadrupedal robot platform capable of delivering a payload over terrain otherwise impassable by wheeled vehicles at a speed of 5 feet per second. The robot uses a spring system in each of its legs for energy efficient locomotion. The 4ft x 3ft x 3ft freestanding four legged robot weighs approximately 300 pounds with an additional payload capacity of 30 pounds. An important feature of the robot is the passive, two degree of freedom body joint which allows flexibility in terms of robot motions for going around tight corners and ascending stairs. A distributed control and software architecture is used for world mapping, path planning and motion control.

• 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

• Chernyak, Vadim
• Zalutsky, Anton
• Flynn, Timothy
• O'Rourke, Jeffrey Eugene
• Morgan, Jonathan

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042711-185744

Advisor

• Padir, Taskin
• Chernova, Sonia
• Nestinger, Stephen

Year

• 2011

Sponsor

• National Instruments
• MicroStrain
• Onvion

Date created

• 2011-04-27

Resource type

• Major Qualifying Project

Major

• Computer Science
• Mechanical Engineering
• Robotics Engineering

Rights statement

• In Copyright