P17227: Walking Soft Robot

Customer Handoff & Final Project Documentation

Table of Contents

Team Vision for Final Demo and Handoff

Our team planned to create an inflatable quadrupedal walking soft robot. Our robot was able to support its own weight but was unable to balance. We were able to program the walking sequence. We can simulate walking by placing the robot onto a stool so that the legs can hang freely and carry out the motion.

Test Results Summary

The pneumatic, electrical, and software systems were built as designed and did not change from the in depth subsystem design review.

Leg Subsystem set backs

Results of Silicone muscles

Risk and Problem Tracking

Our robot was unable to walk despite the risk mitigation carried out through the semester. This was primarily due to the delay in building the robot as a result of the soft muscle fabrication. The 6 soft muscles were completed much later than anticipated and were not as reliable as expected. They had to be swapped out for McKibben muscles.

Problem Tracking

Risk Management

Final Project Documentation

Final Technical Paper

Final Poster

Poster of subsystems

Final Bone fabrication Document

Final Procedure of silicone muscle fabrication

Final Arduino Code


Video of robot walking sequence

Recommendations for future work

Bill of Materials

Home | Planning & Execution | Imagine RIT

Problem Definition | Systems Design | Preliminary Detailed Design | Detailed Design

Build & Test Prep | Subsystem Build & Test | Integrated System Build & Test | Integrated System Build & Test with Customer Demo | Customer Handoff & Final Project Documentation