3D Printed Quadrupedal Robot

A low-cost 3D printed quadruped, designed and built from scratch.

I designed and built this quadrupedal robot from the ground up, starting with ideation and progressing through Fusion 360 design and 3D printing. The robot was fully simulated using Isaac Sim and incorporates LiDAR and an IMU sensor for sensing and stabilization. I also experimented with Isaac Gym to explore enhanced control through simulation.

Left: The robot's design in Fusion 360. Right: The 3D-printed prototype during assembly.

The robot features:

  • IMU for stability
  • LiDAR for environmental mapping
  • Simulation in Isaac Sim and Isaac Gym

Below are two videos that demonstrate the robot in action:

Video 1: Simulation in Isaac Sim

Video 2: Physical Robot Test

This project was an incredible opportunity to combine mechanical design, sensing integration, and simulation tools. It also allowed me to learn and explore the potential of autonomous robotics through trial and error.

Instructions:

Replace <embed_video_url_1> and <embed_video_url_2> with the respective embed URLs of your videos. Add or replace the images in assets/img/robot_1.jpg and assets/img/robot_2.jpg as needed.

Let me know if any further adjustments are needed!