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Legged Robot
Project Timeline
Sep 2025 - Current
OVERVIEW
I am developing a fully custom legged robot, taking the project from concept to functional prototype. I designed and modeled the robot in CAD, 3D-printed all structural components, and assembled and wired the complete system, including servos, drivers, sensors, and power distribution. A Raspberry Pi 4B serves as the onboard compute platform, which I configured for remote programming and real-time control. I implemented gait generation and motion control, and the robot successfully achieved its first walking trial. The current phase focuses on improving locomotion stability and fluidity using reinforcement learning to optimize gait trajectories and dynamic balance.
HighlightS
Designed, CAD-modeled, and manufactured the full robot chassis and leg mechanism.
Built and wired the full hardware system, including Pi configuration, servo integration, and power management.
Developed walking trajectory code and validated successful autonomous gait execution.
Established remote compute environment for iterative control development and testing.
Initiated reinforcement learning pipeline to improve gait smoothness and speed.
SKILLS
Mechanical design Solidworks3D printingHardware integrationWiring and embedded electronics.Raspberry Pi setup,Linux environment, remote control, and real-time execution.Motion control and gait planningSystem debugging, iterative testing
Additional Details
lowinertia
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