Andrew Crow

Publication Date


Document Type


First Advisor

Song, Shin-Min

Degree Name

B.S. (Bachelor of Science)

Legacy Department

Department of Mechanical Engineering


The objective ofthis project is to create a walking robot employing a cam controlled leg. The cam controlled walker was first theorized in the Master's Thesis of Xiaonan Wan of Northern Illinois University. The principle of a cam controlled is to combine the advantages of both wheels and legs into one manipulator. The robot is constructed 'of a body with four motor driven walking pods. Each pod consisted of three cam-controlled members. The robot is capable of walking in a smooth, strait and level line, when it is activated. The robot is designed to be less than 69 centimeters and less than 2 kg in mass. The basic pod design involves a rotating slider and a cam shaped track, which causes a rotating member to have an end path that is a level strait line. This design is advantageous because it allows for the level motion of a wheel and the small footprint and rough terrain navigation ability of a leg. Analysis of motion shows that the robot does not move at constant speed. This creates a dynamic loading problem along with a dynamic control problem. The robot is built to be structurally sound and stable under the dynamic conditions. In order to conserve weight a light motors were used in conjunction with gearboxes. The robot showed it was physically capable of moving but it has problems power issues.


Includes bibliographical references.


48 pages, 18 unnumbered pages




Northern Illinois University

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