01 - Steerable Hexapedal Robot via Altering Gait Profiles

Summary

The goal of this project was to find a method of driving and steering a walking robot with only two actuators and specifically steer in a fashion that involves altering the gait profiles of the legs. Through the process of position analysis for complex linkage systems and optimization through programming, we were able to discover an elegant solution to this problem statement. Through an extensive amount of design and fabrication, we were able to make our robot function nearly exactly as desired.

Our team is composed of all first-year mechanical engineering master's students and our names are Clay McPherson, Connor Hennig, Umesh Malepati, and Tyler Watts.

Contents

• Project Proposal
• Analysis of Walking Leg Mechanisms
• Initial Prototype
• Mechanical Design
• Electromechanical Design
• Fabrication and Assembly
• Final Prototype
• Conclusion and Lessons Learned - Team 1
• Poster

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