PETMAN is a tethered, hydraulic, anthropomorphic robot from Boston Dynamics that is designed to be the same size as, and as physically capable as, an average human male. It is intended to be used as a robotic mannequin to test chemical warfare clothing; it will eventually perform calisthenics in protective clothing while exposed to chemical warfare agents, in order to test the clothing’s capabilities.

In this program, I focused primarily on mechanical design of actuation systems, mechanical structures in PETMAN’s legs, and the mechanical design of the force-controlled, cable-tendon-driven intelligent safety harness that helps keep the robot balanced in case of system failure.