Publication Date


Document Type

Student Project

First Advisor

Lin, Peter

Degree Name

B.S. (Bachelor of Science)


Department of Mechanical Engineering


In many different construction industries, there is a need for tools, parts, and other necessary items to be transported quickly and efficiently over various types of terrain. Human resources have often been used to address these needs, which can become very time and cost inefficient over long periods. The design proposal here is aimed at addressing this need by developing an autonomous outdoor mobile robot based on a quadrupedal robot design. This approach differs by incorporating a wheeled and quadrupedal hybrid actuation system that provides terrain negotiation and speed at the appropriate times. The team uses Robot Operating System (ROS) to develop this robotics application and create a novel software application with the goal of making the usage of this robot simple and efficient to use for potential customers. The proposed robot will be tailored toward construction site usage but can be used in any application where autonomous navigation and item transportation is required in a wide variety of terrain. In completing this project, the goal is to develop a unique and contemporary approach of robotics to an otherwise untouched industrial need of delivering items in a construction environment.