Project Type MQP Submission date 2011-01-14 Authors YunSoo Choi, ME Arthur Philip Dutra, RBE Daniel Wilson Earley, RBE URN E-project-011411-022106 Center WUHAN / Wuhan, China Project Center Sponsor DEPUSH Technologies Title DEPUSH HexCrawler Improvement Project Advisor Rong, Yiming, ME Availability unrestricted Abstract
DEPUSH Technologies purchased the rights to an older six-legged walking robot design and sought help from WPI and HUST students to improve its functionality to better meet the needs of the secondary education market in mainland China. To accomplish this goal, both the mechanical walking system and control system were improved. The mechanical structure was redesigned for three degree of freedom legs and a more robust chassis, while an entirely new control system was utilized to implement full inverse body and walking kinematics. The result was a cutting-edge hexapod, the HexCrawler 2.0, a versatile platform with potential applications in a variety of robotics-related projects and solid foundation for future research on high-level control.
Files DEPUSH_HexCrawler_Improvement_MQP_Paper.pdf
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