Simplified RGBD-Based Autonomous Navigation for a Quadruped Robot
Fall 2017 - Spring 2018


The Project:

Using a Quadruped Robot purchased from Ghost Robotics, we set off to create a system that could autonomously navigate through a labyrinth. Various mechanical designs of head-unit mounts for the robot resulted in a payload greater than the robot could handle, so a simplified assembly was created. 

Autonomous obstacle avoidance was achieved through algorithms developed by Jan Bernhard and Viveque Ramji as shown in the video below.

Autonomous Avoidance at Princeton's Forrestal Campus