2025 · Hardware / Robotics
Robotic Claw & Quadruped Walking Gait System
12-servo gait generation, inverse kinematics solver, and custom web-based joint manipulation GUI.
Robotics Control & Inverse Kinematics
The problem
Controlling multi-joint robotic legs and gripper arms requires converting 3D target coordinates into precise servo joint angles in real time, while preventing electrical brownouts when multiple motors stall simultaneously.
The constraint
Twelve servos moving at once draw current spikes over 4A, causing battery voltage dips that reset the microcontrollers. The inverse kinematics equations have to compute in microseconds to keep gait generation running at 60 FPS.
What I built
Derived closed-form 3-DOF inverse kinematics using the law of cosines; built an interactive HTML5 canvas GUI for real-time joint teleoperation; and engineered a custom power distribution PCB separating high-current servo power from logic rails.
The outcome
A functioning quadruped walking gait with sway compensation and real-time canvas teleoperation.