Build a walking quadruped robot from scratch
I design, manufacture, and control a four-legged robot to walk.
Built a four-leg walking robot from scratch. Performed concept sketch, CAD design, manufacturing (3D printing, lasercutting), electronics integration, gait design and optimization. Achieved top speed of 30cm/s.
Watch the full engineering journey from start to end:
The robot is consistent between CAD, real world manufacture, and simulation, allowing us to run design optimization as well as gait optimization and learning.
Metalhead CAD design, built in the real-world, and digital twin in simulation
We get the robot to walk fast by deploying a short cyclical gait for the 8 servos that is inspired by the result of evolutionary algorithms.
Metalhead optimal sinusoidal gait for 8 servo motors.