As the focus in robotics is shifting from specialized robots in controlled environments to generalized robots in unstructured environments, there is greater demand for legged locomotion research platforms. Four-legged robots achieve a balance between speed and stability. In this project, the team designed and fabricated a highly maneuverable robot using 3-DOF legs powered by BLDC motors. This quadruped is an extensible platform for future work in gait development, computer vision, and more.

• 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

• Gandhi, Arjun
• Mularoni, Andrew E.
• Jacobs, Mitchell R.
• Andreassen, Ezekiel T.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050621-133302
• 22981

关键词

• PCB
• Quadruped
• BLDC
• Capstan

Advisor

• Zhang, Haichong
• Bertozzi, Nicholas
• Miller, Bradley A.
• Clark, Andrew

Year

• 2021

Date created

• 2021-05-06

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering
• Mechanical Engineering

Rights statement

• In Copyright