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Modular Biped Robotic Base, Lawrence T. Chiavaroli, Andrew J. Forchione, Wesley A. Miller, Joseph M. Drockton
Modular Biped Robotic Base, Lawrence T. Chiavaroli, Andrew J. Forchione, Wesley A. Miller, Joseph M. Drockton
Williams Honors College, Honors Research Projects
This report contains the final developments and research involved with the modular biped robotic base. A need was first identified in 2011 when President Obama announced the National Robotics Initiative, an initiative focused on the funding of robotic development to work alongside or cooperatively with humans. This scope of this project concerns building a robotic base modeled after human legs and hips, capable of interfacing with future modular subsystems depending on what tasks are trying to be accomplished. Firstly, a mathematical torque simulation of the hip, knee, and ankle joints was developed in MATLAB. Using this information, complimentary actuators and …