College - Author 1

College of Engineering

Department - Author 1

Mechanical Engineering Department

Degree Name - Author 1

BS in Mechanical Engineering

College - Author 2

College of Engineering

Department - Author 2

Mechanical Engineering Department

Degree - Author 2

BS in Mechanical Engineering

College - Author 3

College of Engineering

Department - Author 3

Mechanical Engineering Department

Degree - Author 3

BS in Mechanical Engineering

College - Author 4

College of Engineering

Department - Author 4

Mechanical Engineering Department

Degree - Author 4

BS in Mechanical Engineering

Date

6-2023

Primary Advisor

Amanda Emberley, College of Engineering, Mechanical Engineering Department

Abstract/Summary

Cal Poly Legged Robots, led by Professor Refvem and Professor Xing, has been leading Cal Poly’s attempts to simulate, produce, and test their legged robots. The initial testing of the locomotion of these robots can be dangerous to the robot since any bugs in the code could cause the robot to fall over and harm itself. Our responsibility as a team was to deliver a portable platform for testing the locomotion capabilities containing a fall prevention mechanism. In short, we have designed a platform for this purpose that consists of a treadmill surrounded by a wheeled chassis with a system of ropes, pulleys, and a winch for a fall prevention mechanism. Our method of lifting the robot is a success in two ways. First, our method only requires the addition of four eyebolts to the robot, a rather minor modification. Second, our method does not impede the motion of the robot when it is running normally. However, it was found that our method requires 1-1.7 seconds to lift the robot (depending on where the robot is located on the treadmill) – a rather crippling amount of time to lift a robot, seeing as how it is desired for the robot to run at 8 mph on the treadmill. Regardless, our design provides a great starting point for future Senior Project teams to improve upon it. It is our hope that our design will allow Cal Poly Legged Robots to further the development of legged robots and to generate interest, both at Cal Poly and hopefully around the world, in this area of study.

ME_S2023_F45_Video.mp4 (103186 kB)
Project Video

ME_S2023_F45_Poster.pdf (10091 kB)
Project Poster

ME_S2023_F45_SOW.pdf (1270 kB)
Scope of Work

ME_S2023_F45_PDR.pdf (3215 kB)
Preliminary Design Review

ME_S2023_F45_CDR.pdf (2094 kB)
Critical Design Review

ME_S2023_F45_Drawings.pdf (615 kB)
Drawing Package

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