Dave Singh | Mechanical Engineering

The robot's gait was modeled off of a deer's hind leg motion. This motion was then used as a coupler curve for a Grashof crank-rocker four-bar linkage. I designed the feet to be robust and support walking over all three types of terrain. A wide, rubber-coated foot with a talon at the front was the final design.

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We iterated through numerous linkages and foot designs in order to have the robot walk consistently and quickly.

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The robot was tasked with completing 3 obstacle courses, with different weights on each course to scale quantitative performance. Performance was measured in speed relative to other groups.