Quadruped Robot
A custom 8-DOF four-legged robot built end to end to walk and balance on its own.
Overview
- Custom four-legged robot built end to end — mechanical design, electronics, and control software.
- 8 degrees of freedom (two actuated joints per leg) for a stable, coordinated walking gait.
Design & Build
- Mechanical: Leg geometry and frame designed in SolidWorks, driven by servo actuators.
- Electronics: Microcontroller coordinating the eight joints with onboard sensing and power.
- Software: Inverse kinematics for foot placement and a gait generator running the leg cycle.
Challenges
- Keeping the body balanced while shifting weight across legs mid-stride.
- Synchronizing all eight joints into a smooth, repeatable gait.
- Tuning the inverse kinematics so feet land where the controller expects.
Result
- A stable walking gait on flat ground with coordinated leg motion.
- A full hardware-to-software platform I can keep iterating on.