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SPARKY - Quadrupedal robot with inverse kinematics
Project Type
Personal Project
Date
Jan 2021 - Ongoing
Skills
Mechatronic Design - Solidworks + 3D printing + Prototyping
Robotic Control - Arduino + Inverse Kinematics + Gait generation
Quadrupedal robot featuring quasi static walking gait
Designed and prototyped a quadrupedal robot with 12 d.o.f, and implement inverse kinematics and quasi static walking gait utilizing an Arduino Uno. Conducted functional testing to validate functionality and inform material selection.
I have used this project as an introduction to mechatronic systems and robot kinematics. I am currently on the third hardware iteration and I plan on utilizing this platform to dive deeper into quadrupedal gait generation and control algorithms.
