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Design of a quadrupedal robot (Team (Matthew Robertson, Harshal Sonar,…
Design of a quadrupedal robot
Team
Matthew Robertson
Harshal Sonar
Christoph Belke
Zhenishbek Zhakypov
Referee
Dr. Amy Wu
Objective
Study the effect of mechanical design and environmental conditions on the walking gait of quadrupedal robot
Factors
continuous
Tendon length
Short
Long
Compliant knee
High K
Low K
Tendon stiffness
Low K
High K
Leg length / body
Low
High
discrete
Surface roughness
Smooth
Rough
Gravel
Foot shape
Pointy
Curved
Flat
Foot material
Low friction
High friction
Responses
Robot speed
Lateral deviation
Cost of Transport
Prototype
Custom fabricated single-motor driven four-legged robot
Model
Empirical
1st order
1st order with interactions
2nd order
Strategy
Placket-Burman
Screening
Factorial
Full
Fractional