Quadruped Robot

This project was started around June of 2020. I started this project becuase I wanted to build a complex robot capable of traversing uneven terrain. I thought a quadruped robot would be a great solution to solve this problem. I decided to control the legs using 9g servo motors. This is my third time building a quadruped robot. The earlier versions failed becuase the servo motors I used had nylon gears that kept stripping under the weight of the. This time, I used metal geared servos to keep that from happening.

After some initial drawings on paper, I designed a simple CAD model on the computer. After some computer tests to make sure all the joints had proper space to rotate, I 3D printed the parts. Once all the parts were printed, I assembled the robot. Initially, the robot didn't work becuase some parts didn't fit too well. I redesigned a couple parts and attached them. Now the parts fit much better and the legs were moving. After a couple weeks of programming, and a lot of trial and error, I got it to walk!