Modeling and Gait Design of a 8-Tetrahedron Walker Robot

Abstract

This work describes the use of a simulating walking robot to model to design gaits for a tetrahedron (TET) walker robot. A TET robot has struts and nodes positioned in a way that it allows the robot to move by extending and contracting the struts. The Hope College Controls team has built a working 4-TET robot and has done extensive modeling and gait development on the 8-TET.