Background:
McGill University has been an active participant in
the field of legged robotics, with such recent
additions as Scout II (four-legged, four D.O.F.
tethered) and Rhex (six-legged, six D.O.F.
non-tethered). Unfortunately, these robots were
designed and built by graduate students. Without any
background in electronics or programming,
undergraduates have never had the experience nor the
opportunity to build a mobile, legged robot: until
now. Concordia electrical students, also enthusiastic
to build a legged robot, did not have the proper
mechanical background. Combining expertise in both
fields could allow for a mobile, legged robot to be
built entirely at the undergraduate level.
Design Specifications:
There are many interesting features, aside from
quadruped walking, incorporated into the design of
Mantis: All joints are identical and use the same
motors and gears throughout. This means a very simple
design and complete interchangeability. Secondly, the
design of these joints allow the links connecting them
to be easily manufactured, removed and varied in
length. These joints can be used on robotic devices
ranging from dextrous fingers to joints in legs.
Mantis will also be aesthetically pleasing; the
robot's wiring, electronics and mechanics will be
fully enclosed within the body and legs while at the
same time being easily accessible. The central frame
will also have an aesthetic covering which is easily
removable. Many parts for both legs and central frame
will be ordered "off the shelf" or easily
manufactured, reducing production time and cost.