Quadrupedal Robot Mobility on Mountainous Terrain

5/9/2018

This is my project for the CIT Honors Research Program. From my work on this project, I was awarded the "Excellence in Undergraduate Research" Award at Commencement.

I was part of the CMU Robomechanics Lab ( https://www.cmu.edu/me/robomechanicslab/ ) during the 2017-2018 Academic Year. I worked with my professor, Aaron Johnson, and lab-mate, Praxis Bayes.

We were inspired by mountain goats and their great maneuverability on mountainous terrain. We focused on studying the mechanics of their lower limb, specifically of their hooves. We worked on designing mechanical hooves that conform to steep and uneven surfaces, and experimented with material, geometry, and fabrication methods

The Big Question:
How can we improve the mobility of legged robots on steep and rocky surfaces?

Research Goal:
To understand the principles underlying improved mobility on steep and rocky terrain.
Focus: Mechanics of the Feet.

The "Minitaur," a 4-legged robot developed by Ghost Robotics was used as a testing platform.

Executive Summary:

NS_ExecSum.pdf
File Size:	79 kb
File Type:	pdf

Download File

Research: Anatomy of Goat Hooves

Hoof Design
The Hoof body was printed using the Form 2 3D Printer, and the sole was cast.

Ankle Design
Fabricated from bending spring steel rods.

Assembly

Testing
This new design replaces the Minitaur's original Rubber Stub Feet.
We can see here that the ankle and hoof allows the feet to conform to irregularities in the surface by improving surface compliance and grip.