Shaking out the electronics...

A project log for Quadruped Robot

A quadruped robot using cheap servos closed-loop control and force-sensing resistors for ground force feedback. Uses Teensy and PCT.

YannisYannis 09/18/2018 at 21:490 Comments

So the quadruped is finally alive! This first iteration is able to assume poses commanded from an RC transmitter and adaptively stand on uneven ground. Here's a video of said functionality below:

I still need to iron out a few bugs and then I'll be moving to design an adaptive gait that can (hopefully) allow the robot to traverse uneven terrain.

I've also posted a more extensive update on my blog.