Continuum Robotic Quadruped (CRoQ)

Belmont, Theodore

Student Work

Continuum Robotic Quadruped (CRoQ)

Public Deposited

Soft robots show promise in exploring dangerous and complex environments due to their adaptability. However, common soft and continuum robotic manipulators use flexible or corrugated materials to form actuators. These approaches can create an obstacle to their practical implementation, because they are often unable to carry the weight of their power and control systems. This paper describes the development of a novel continuum manipulator and its implementation into a robotic quadruped. The manipulator, known as the Serial Underactuated Sphere Actuator (SUSA) is a novel, modular, 2DoF, underactuated, cable-driven actuator with discrete rigid segments that allow for strength and compliance, while also exhibiting a slight Fin Ray Effect. The SUSA is implemented into the novel Continuum Robotic Quadruped (CRoQ) platform. This design allows for an untethered platform with adaptable movement over complex terrain without the need for a complex control system. The latest version of the robot encountered difficulty in traversing obstacles due to insufficient motor power. In future work on the CRoQ, stronger motors can be used to improve rough terrain operation, and multiple stages can be added to give the robot better maneuverability. Future work regarding the SUSA is endless, with possibilities including exploring complex, dangerous environments, enhancing existing rigid and soft robots, and developing robots for use in medical and geriatric facilities.

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