Caminante is a bipedal platform design to test sensitive walking. The robot was designed with all the characteristics that were deemed necessary in order to test successfully develop and test new control and wait generation systems that can be applied to all legged robots. A twelve degrees of freedom platform with series elastic actuators that mimics the major human leg joints was developed and constructed. The system uses cable driven SEA’s for compliance and force control. Two 36 tactile sensor arrays capable of measure shear and normal forces on the sole of the feet were developed to measure the forces generated by walking and develop better control schemes for the bipedal system.

• 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

• Claretti, Ennio

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042513-112341

Advisor

• Padir, Taskin
• Torres-Jara, Eduardo

Year

• 2013

Date created

• 2013-04-25

Resource type

• Major Qualifying Project

Major

• Interdisciplinary

Rights statement

• In Copyright