Implementation and control of a reconfigurable 8-Tetrahedral robot

摘要

This work describes the implementation and control of an 8-Tetrahedron Walker. The hardware selection in building the robot will be covered. Both mechanical systems and the electronic control systems will be discussed. A TET robot has struts and nodes positioned in a way that allows the robot to move by extending and contracting the struts. The Hope College Controls team has built a working 8-TET robot and has done extensive modeling and gait development of other TET configurations.