Riddhi Gupta
Walking Robot Dog
I’m working on an exciting project to build a walking robot dog! This journey has been a hands-on learning experience, combining mechanical design, electronics, and programming. From designing and prototyping to testing and refining, each step has been a deep dive into robotics and problem-solving. Here’s a breakdown of what I’ve accomplished so far, what I’m currently working on, and my plans for the future.
What’s Completed?
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Finished the basic CAD design of the robot dog.
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3D-printed several parts of the robot.
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Coded the leg movements for testing, and they work successfully.
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Designed an Arduino shield with IMU sensors (on the opposite side) for 6DoF tracking & motor drivers in Altium Designer.
What am I Currently Working On?
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3D-printing the remaining pieces of the robot.
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Assembling the robot and integrating the components.
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Working on the electronics and coding using Arduino Uno.
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Using a laptop to power the system during testing for quick iterations.
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Analyzing Boston Dynamics’ Spot for gait optimization in the future.
Design iterations
Done FEA on each of the parts and carried out topology optimization to make them lighter so the robot can operate with low-torque MG996r motors.
What will I do next?
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Transition from laptop-powered testing to a dedicated power supply for regulated voltage and better functionality.
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Once the electrical components are tested and working as expected, design and manufacture a proper PCB tailored to the robot's needs.
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Make required iterations based on the test results.
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Write PID algorithms in Arduino IDE with IMU feedback for precise movement. Start with squatting, then try to get it to move.
