This was originally a senior electrical engineering capstone project. The objective is to build a semi-autonomous quadruped that is based on the biology of a cheetah. The robot must be able to perform open and closed-loop tasks.

As a master's student, my task was to improve the gaits of HARQ and to develop dynamic inverse kinematic gaits that change based on the path.

The main purpose of this robot is to assist in disaster relief. For example, in situations where it is dangerous to send in first responders, HARQ can be deployed.

The primary constraint is cost. We wanted to make a robot for the average house hold. That meant the cost had to be low.