Robotics (2001-2002)
This project - my undergraduate thesis - investigated the design of a robotic quadruped, based on the anatomy of a dog. The robot was powered by pneumatic muscle actuators that contract, like real muscles, when compressed air is forced into them. By attaching muscles in antagonistic pairs that pull in opposite directions, it is possible to control both the angle of each joint and its stiffness.
The strong yet lightweight frame of the quadruped was built from fibreglass box section with aluminium brackets. Custom software was designed to control the robot, via serial communication to a small network of interface electronic circuits.