..................................................................................................................................... 4 Acknowledgements .................................................................................................................... 5 Chapter 1: Introduction ............................................................................................................... 6 Chapter 2: Background .............................................................................................................. 7 2.1 Previous MQP .............................................................................................................. 7 2.2 Hydro-Muscles as an Actuator for Legged Robots ....................................................... 8 2.3 Biomimicry and Inspiration from Nature ....................................................................... 8 2.4 Existing Bipedal Robots ..............................................................................................10 2.4.1 Festo BionicKangaroo ..........................................................................................10 2.5 Advantages of Bipedal System for Hydro-Muscles ......................................................11 Chapter 3: Project Objectives ....................................................................................................12 3.1 Determination of Design Specifications .......................................................................12 3.1.1 Size and Weight ...................................................................................................13 3.1.2 Cost .....................................................................................................................13 3.1.3 Actuation ..............................................................................................................13 3.1.4 Locomotion ..........................................................................................................14 3.1.5 Reconfigurability ..................................................................................................14 3.1.6 Future Platform for Hydro-Muscles ......................................................................15 3.2 Project Scope and Limitations .....................................................................................16 Chapter 4: Design and Construction .........................................................................................17 4.1 Reconfigurable Construction System ..........................................................................17 4.1.1 80/20TM ................................................................................................................17 4.2 Skeleton Design ..........................................................................................................19 4.3 Modelling and Simulation ............................................................................................20 4.4 Hydro-Muscles as Actuators .......................................................................................23 4.4.1 Power Augmentation ............................................................................................23 4.4.2 Compliance of Hydro-Muscles to External Forces ................................................26 4.5 Fabrication of Hydro-Muscles .....................................................................................27 4.5.1 Elastomeric Tube .................................................................................................27 4.5.2 Sheathing ............................................................................................................27 4.5.3 Barbed Fittings and Hose Clamps ........................................................................28