Trevor Chan — Quadruped Robot

04 Quadruped Robot

hardware

Overview

12 degree-of-freedom quadruped robot capable of emulating canine gait, developed as an independent project. Entirely custom designed and 3D printed.

Mechanical Design

The chassis is fully 3D printed to provide a lightweight, inexpensive, and easily modified frame. Each leg uses a two-stage planetary gearbox paired with a high-torque brushless motor, providing near-instantaneous force response for reactive control.

Controls

A control AI was trained to emulate motion capture data from canine and feline gaits in simulated physics environments. An original meta-learning approach was employed to accelerate training across varied terrain conditions.