Individual Progress Report


The Individual Progress Report (IPR) is a chance to put your contributions to the team's progress in writing. The report will discuss not only the components and subsystems you have personally been responsible for, but what components you have helped work on as well. It is important to talk about the relation between your work and your teammates' work as well.

Requirements and Grading

This report should be 5-12 pages of your own work. This means that you cannot take paragraphs/text from your Design Review document, since that was a collaborative effort. The IPR Grading Rubric describes what we look for in grading this assignment. The requirements are expanded on below:

  1. General: Concise writing is encouraged, but it is important that all pertinent information is conveyed. All figures should be labeled and formatted consistently.
  2. Formatting: Please refer to the Final Report Guidelines for general writing guidelines, since the format of this report should be very similar to that of the final report. Note that each component of the Final Report may be tailored to the parts of the project the individual has been active in.
  3. Introduction: First, discuss what portion of the system you have been active in designing connects to which portion of a different subsystem, and how these interact to complete an overall objective. Then discuss what you have accomplished, what you are currently working on, and what you still have left to do.
  4. Design: Discuss the design work you have done so far. It is expected that you have done calculations and/or found relevant equations, created circuits for your parts of the project, and simulated / drawn schematics for your parts. You may have already, at a high level, discussed how your part fits into the rest of the project, but you should expand on the technical details and interface between your module(s) and the other modules of the project.
  5. Verification: Testing and verification is also very important. Make sure you describe each test that was performed and its procedure in detail, and give quantitative, meaningful results. Also describe tests that have yet to be performed. We should be convinced that if all your tests will pass, your part of the project will work.
  6. Conclusion: Discuss a plan and timeline for completing your responsibilities and your project as a whole. Also explain the ethical considerations of your project by consulting the IEEE Code of Ethics, ACM Code of Ethics, or another relevant Code of Ethics.
  7. Citations: You need citations. Cite sources for equations, Application Notes you referenced in your design, and any literature you used to help design or verify your work. If you checked something from another course's lecture slides, Google'd for things related to your project, or anything similar, then you have something you need to cite. At the very least, since you have talked about the ethical considerations of your project as it relates to a published code of ethics (e.g., IEEE or ACM), you should cite those!

Submission and Deadlines

The IPR should be submitted on canvas in PDF format by the deadline listed on the Course Calendar.

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

Project Videos