Hardware development on quadruped robots


This site describes the work done during my 17-week semester project in the BioRob Laboratories at EPFL. This project was included in the Oncilla project of Alexander Spröwitz. It is part of the European project AMARSi, amongst others in collaboration with the Reservoir Lab at the University of Ghent, Belgium.

The Oncilla project consists of two quadruped robots, built based on the Cheetah platform, developed at the BioRob.
One of the three main tasks described in the report is the control of the RC servo motors for the smaller Oncilla through an off-the-shelf servo motor control board, the Pololu Mini Maestro 24.

The second task is the implementation of a basic Central Pattern Generator, a neuron network generating rhythmic locomotion movements and thus positions for the RC servo motors. A simulation of those CPG’s is made by the aid of coupled oscillators, fi


Layout of the system

Layout of the system

Images taken from:
Pololu Mini Maestro: http://www.pololu.com/picture/view/0J2336
Cheetah: http://biorob.epfl.ch/files/content/sites/biorob/files/users/173229/public/cheetah1_3d.jpg


Walkway for gait analysis

Walkway with embedded force plates fixed on steel plates. The middle plates are exchangeable and thus adaptable for different configurations



Final report:
Final report.pdf

Final presentation:
Final presentation pptx
Final presentation PDF