Autonomous Biomimetic Quadruped Robot

Gait Planning | IK/FK | Microcontroller | Embedded Systems | STM32 | PID | IMU

overview.

Designed and developed a biomimetic quadruped robot with a 3-DOF leg design for simulated search-and-rescue missions. Controlled by an STM32, the robot implements a stable Trot gait using Inverse Kinematics and composite cycloid trajectory planning. To address navigation in unstructured environments, we developed a real-time attitude adjustment strategy leveraging IMU data to dynamically shift the Center of Mass, enabling the robot to traverse 10° slopes, stairs, and gravel paths. The system also integrates ultrasonic obstacle avoidance, infrared line tracking, and color recognition modules for autonomous path planning.

Open to collaboration.

I'm always interested in new opportunities and exciting projects. Whether you have a project in mind or just want to chat about tech, I'd love to hear from you.

Currently available for internships and full-time job opportunities

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