4-Legged Quadruped Robot (Robodog) with Inverse Kinematics Walking Gait
12-servo quadruped robot executing trotting, crawling, and turning gaits with real-time IMU posture balancing.
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Project Technical Overview
Features 3 degrees of freedom per leg (12 high-torque metal-gear servo motors total). An onboard ESP32/STM32 computes real-time 3D inverse kinematics to maintain static and dynamic stability over rough obstacles, with an MPU6050 gyroscope adjusting center of mass during movement.
Read the foundational IEEE conference research paper, citations, and algorithmic architecture for this project.