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Quadruped Walking Robot

engineering

Built a walking quadruped from PCB to gait control in Columbia’s Robotics Studio — circuit design, assembly, and locomotion tuning.

Overview

A full-stack robotics build: mechanical structure, electronics, firmware, and gait optimization for stable quadruped locomotion. This was my project for Robotics Studio at Columbia (Fall 2025).

What I built

  • Circuit design and PCB layout for motor control and sensing
  • Hardware assembly including 3D-printed structural components
  • Gait generation and iterative tuning for reliable walking on flat surfaces
  • Embedded control loops to coordinate leg phases and balance

Skills & tools

AutoCAD, 3D printing, embedded systems, Python/C++ for control prototyping, iterative mechanical debugging.

Context

Part of my MS in Biomedical Engineering at Columbia — where I’m connecting hardware intuition to clinical and assistive applications (medical robotics is a long-term interest).