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8 Dof Quadrupedal Hopping Robot, Clayton T. Elwell, John Bennett, Tyler Mccue, Daniel Munic
8 Dof Quadrupedal Hopping Robot, Clayton T. Elwell, John Bennett, Tyler Mccue, Daniel Munic
Mechanical Engineering
The goal of our senior project was to fabricate an eight degree of freedom (DOF) prototypical quadrupedal robot, develop a controller than commands the quadruped to repeatedly jump 10 cm in the air, and fabricate a modular test stand to safely deploy our controller on the quadruped. The creation of a functional quadruped will bring attention to Dr. Siyuan Xing and Charlie Refvem’s research group, Cal Poly Legged Robots, and will give future Cal Poly undergraduate and graduate students a learning tool to explore dynamic control of biomimetic robotic systems.
Over the course of our senior project, we successfully manufactured …