An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
Implemented ROS infrastructure to handle: controller input, body IK model, leg IK model, gait planning + goot trajectory generation, automatic + modular serialization/deserialization of LLC-HLC comm.
Implemented ROS infrastructure to handle: controller input, body IK model, leg IK model, gait planning + goot trajectory generation, automatic + modular serialization/deserialization of LLC-HLC comm.