This report presents the very first effort aimed to develop a legged terrestrial robot actuated by Hydro Muscles, which are elastic tubes actuated by fluid, constrained by fabric that extend and contract emulating life-like performance of biological muscles. The team designed and manufactured a 30-pound quadruped “dog” using versatile aluminum extrusions and minimally machined components. The team tested and observed a variety of bounding gaits that resulted from different skeletal/muscular geometries and actuation times. These tests yielded varying jump heights and robot forward velocities. Future projects should extensively research optimal leg kinematics to maximize the mechanical power the muscles apply on the robot.

• 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

• Hunt, Thane Robert

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-043015-154626

Advisor

• Popovic, Marko B.

Year

• 2015

Date created

• 2015-04-30

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright