Bipedal Robot
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This project was completed for the “MECE 4611 Robotics Studio” (Fall 2024) course at Columbia University.
In collaboration with Xinhe Yang, we designed and built a bipedal robot featuring:
- A well-designed kinematic structure
- A detailed CAD model created in SolidWorks
- A fully 3D-printed body
- An integrated control system with a self-diagnostic module, running on a Raspberry Pi (supporting both SSH and voice commands)
- Trajectory planning using keyframes and cubic polynomial interpolation, with complete mathematical analysis and simulation debugging
- A screen-based facial expression system that reacts to commands
- A PyBullet-based simulation environment
As the team leader of this project, I was responsible for:
- Designing the robot’s leg structure and CAD
- 3D-printing all the parts of the robot while ensuring consistent strength
- Assembly of the whole robot
- Implementing the entire software stack, including control algorithms
- Optimizing robot’s gaits through simulation
All algorithms were developed in Python.