Modeling and Gait Design of a 8-Tetrahedron Walker Robot

Document Type

Conference Proceeding

Publication Date



This work was partially supported by NASA, Grant Number NNX09AH69G and Michigan Space Grant Consortium.

This paper relates to the poster entitled "Design and Implementation of an 8-TET Robot" in the collection: 10th Annual Celebration for Undergraduate Research and Creative Performance (2011). Information for the poster may be found here: http://digitalcommons.hope.edu/curcp_10/134/


This work describes the use of a simulating walking robot to model to design gaits for a tetrahedron (TET) walker robot. A TET robot has struts and nodes positioned in a way that it allows the robot to move by extending and contracting the struts. The Hope College Controls team has built a working 4-TET robot and has done extensive modeling and gait development on the 8-TET.