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Roger Roo

Tasked with traversing uneven and slippery terrain, my teammates and I created a robotic kangaroo with a pentapedal gait for stability, increased points of contact, weight distribution, and economy of movement. 

Description

Tasked with creating a linkage system for traversing uneven and slippery terrain, my teammates and I analyzed different gait patterns of animals.  Roger is a robotic kangaroo that mirrors the pentapedal walking gait of a real kangaroo. The pentapedal gait of kangaroos offer stability, increased points of contact, weight distribution, and economy of movement. 

The mechanical systems design project featured gear trains, belt drives, and a DC motor. Processes included minor circuitry, laser cutting, and MATLAB for generating plots used to measure performance.


Process

Assembling the kangaroo body. Made from laser cut duron and plastic axle pieces.

Assembling the kangaroo body. Made from laser cut duron and plastic axle pieces.

Close up look at tail belt drive system. Built in tensioner for adjusting wrap angle.

Close up look at tail belt drive system. Built in tensioner for adjusting wrap angle.

Hind leg belt drive system.

Hind leg belt drive system.

Traction padding on heels to decrease slipping and increase power transfer.

Traction padding on heels to decrease slipping and increase power transfer.


MATLAB code & graphs

KangarooPlots.jpg
KangarooPlots_2.jpg

In Action