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.
Project 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.
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.
12-servo quadruped robot executing trotting, crawling, and turning gaits with real-time IMU posture balancing.
Core Project Objectives
Capture continuous analog/digital sensor readings with robust noise filtering and hardware calibration.