Mutlimodal Leg
September 2025 - Current
Through my time in the Aerospace Robotics Lab, I have been working on developing a multimodal rover with 6+ different localization gaits. I was originally tasked with making a spherical parallel manipulator for the hip of the leg modules, but am now leading the design of the entire leg, which follows a more standard 4-bar design.
This leg is designed to have 8 degrees of freedom, which will allow it to have such a diverse set of localization gaits. Its design was optimized to walk like a dog, gecko, and spider, while also having wheels with a swerve module on the end of the leg.
Optimization
To keep the motors as cheap and compact as possible, I wrote a MATLAB optimization program that calculated the kinematics of the leg using its architecture and linkage lengths. This code then used the kinematics to extract the required RPM and torque data for each actuator, and calculated a weighted score to assess the viability of the linkage lengths within the legs particular architecture. This logic was applied to then determine the best linkage lengths and stepping path location to minimize torque and RPMs, ensuring the design is as functional as possible when fully constructed.
Progress (Updated Sep 22)
I am currently working on developing the ankle module, which will be attached with two linkages and a 2-degree joint. The two servos at the end of the current leg will actuate the ankle so that the swerve moduel is always normal to the ground.
Skills Developed
Optimization: Using kinematics of the leg geometry to engineer the best possible dimensions for the robot.
Sprocket Design: All belt sprockets are designed by hand and printed using engineering resin to withstand impact forces.
Coaxial Design: The 4-bar architecture uses a powered coaxial assembly for a 2-DOF 4-bar.
Weight Savings: Hybrid use of 3D prints and metal plates gives geometric versatility while also giving strength where needed.