Description

A variety of animals such as primates, dogs, and bears switch modes of locomotion between quadrupedalism and bipedalism to better complete certain tasks. However, very few robotic platforms can effectively combine the two forms of locomotion. A multi-modal robotic platform with such capabilities would provide additional adaptability in unstructured environments, broadening its potential applications. Therefore, we intend to extend an existing quadrupedal platform with the capability to transition into a bipedal stance. This project has been a part of an ongoing project in the WPI Humanoid Robotics Lab

My Role

• Developed the Forward & Inverse Kinematics for the legged robot & implemented it in Python

• Generated a piecewise trajectory of the leg for gait cycle

• Simulated the robot in MSC Adams View for verifying the Dynamic model

• Developed a Dynamic model for the robot using the Euler-Lagrange formulation