VT Running Robot Team

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• VT Running Robot Team
• Adam Vittum, Brek Waits, Michael Tamigi, Zachary
  Morrey
• ESM Faculty Advisor Prof. Kevin Granata
• The Goal Our teams goal is to design and build
  a fully functional leg for use on a future
  running quadruped to be entered into the SAE
  Robot Systems Competition. We plan to complete
  one leg and a control system to actuate the leg
  and make it move to a desired positions.
• The team will use its engineering background in
  statics, dynamics, and mechanics of materials as
  well as computer simulations to determine the
  most efficient leg given the teams resources.

Composite Panel and Leg Member
Aluminum Prototype Leg with Actuation

• Executive Summary Our design uses an electric
  motor for the hip joint, pneumatic muscles for
  the knee joint, and a four-bar linkage allowing
  the knee to also actuate the ankle joint. Our
  design also incorporates composites to gain an
  advantage of the use of metal leg members.
• Accomplishments to date
• Research other robot designs and actuation types
• Computer program of statics analysis
• Build actual size aluminum prototype
• Made prototype composite members
• Future goals
• Control system for hip and knee actuation
  (separate)
• Overall control system for the single leg

From Left to Right Zach Morrey, Mike Tamigi,
Brek Waits, and Adam Vittum