DemoDog - Robotics Project
This was my first full stack robotics project in college. From initial conception, design, servo firmware setup, to final gait tuning, this individual project covers the wide range of engineering aspects that I love about robotics.
DemoDog in Action
DemoDog is walking around the lab! About 18cm/s
Project Video
Full Project Video
Mechanical Design
The DemoDog was inspired by the headless dog from the show 'Stranger Things'. I sought to make a simple and effective design that is parametric so I can quickly iterate on parameters like stride length to find the optimal design.
Electronics Packaging
The mechanical design is intended to be completely 3D printed. I focused on ease of development: the entire electronics mounting is modular and slides in and out of the torso for ease of removal.
PPO Training
PPO is a popular reinforcement learning algorithm that is commonly used in locomotion. I have trained a policy to stably stand and working on a better RL gait that works sim2real.