Autonomous Biomorphic Quadrupedal Robot (Spot Replica & Digital Twin)
A 12-DOF biomorphic quadrupedal robot bridging spatial Denavit-Hartenberg kinematics, custom embedded PCB control, and real-time ROS 2 digital-twin dynamic physics simulation.
Overview
Designed, simulated, and prototyped an autonomous 12-DOF biomorphic quadrupedal mobile robot inspired by Boston Dynamics' SPOT platform. The system integrates CAD/CAM structural mechanical synthesis, embedded PCB hardware, ROS 2 spatial kinematic solvers, and dynamic physics digital-twin validation.
Lightweight 12-DOF structural linkages were engineered in SolidWorks and subjected to static and dynamic stress/strain Finite Element Analysis (FEA) in ANSYS to optimize structural load distribution under high-impact gait forces.
Forward and inverse kinematics were formulated using spatial Denavit-Hartenberg (D-H) planar transformations, establishing joint trajectory profiles for dynamic balance and multi-gait leg coordination. The custom PCB control board, designed in KiCad and EasyEDA, connects ESP32 and Arduino microcontrollers across high-speed SPI, UART, and I2C hardware buses, enabling asynchronous telemetry streaming over 802.11 Wi-Fi to Blynk.Cloud and ThingSpeak dashboard platforms.
To validate system dynamics, complete Unified Robot Description Format (URDF) models were constructed complete with physical joints, collision boundaries, and precise inertia matrices. Full rigid-body dynamic physics simulations were executed within Gazebo and Wokwi, integrating Python-based AI frameworks (Reinforcement Learning and Computer Vision) for autonomous path planning and obstacle negotiation.
3D Model
Interactive 3D model of the 12-DOF Quadrupedal Robot chassis — drag to orbit, scroll to zoom.
Process
01 — Mechanical Synthesis & FEA
Linkage Optimization & Structural Stress Analysis
Engineered lightweight 12-DOF structural linkages in SolidWorks. Conducted static and dynamic stress/strain Finite Element Analysis (FEA) in ANSYS to optimize structural load distribution under high-impact gaits.
02 — Kinematics & Spatial Mathematics
Denavit-Hartenberg Formulation & Trajectories
Formulated forward and inverse kinematics using spatial Denavit-Hartenberg (D-H) planar transformations. Programmed joint trajectory profiles for dynamic balance and multi-gait leg coordination.
03 — Embedded PCB Hardware & Sensor Fusion
Custom Board Design & High-Speed Buses
Designed custom PCB control boards via KiCad and EasyEDA. Configured high-speed SPI, UART, and I2C hardware buses for sensor fusion and real-time motor synchronization across ESP32 and Arduino microcontrollers.
04 — Asynchronous Telemetry & Cloud IoT
Wireless Dashboards & Real-time Analytics
Enabled asynchronous telemetry over 802.11 Wi-Fi streaming to Blynk.Cloud and ThingSpeak dashboard platforms for real-time remote monitoring.
05 — URDF & Rigid-Body Physics Simulation
Digital Twin Synthesis in ROS 2 & Gazebo
Constructed complete Unified Robot Description Format (URDF) models complete with physical joints, collision boundaries, and precise inertia matrices. Executed full rigid-body dynamic physics simulations within Gazebo and Wokwi.
06 — Embodied AI & Autonomous Navigation
Reinforcement Learning & CV Path Planning
Integrated Python-based AI frameworks (Reinforcement Learning / Computer Vision) for autonomous path planning and obstacle negotiation.
Engineering Details
Key System Highlights & Technical Specifications
| Subsystem | Engineering Focus | Tools & Methodologies | Output & Verification |
|---|---|---|---|
| Mechanical Synthesis & Dynamic FEA | 12-DOF Structural Linkages & Frame Design | SolidWorks, ANSYS FEA, Additive Manufacturing | Optimized load distribution under high-impact gaits |
| Kinematics & Spatial Mathematics | Spatial & Planar Leg Coordination | Denavit-Hartenberg (D-H) Transformations, Trajectory Solvers | Closed-form forward & inverse kinematics for dynamic balance and gait control |
| Embedded PCB & Sensor Fusion | Multi-MCU Control & Telemetry | KiCad, EasyEDA, ESP32, Arduino, SPI/I2C/UART | Synchronized motor drive loops with 802.11 Wi-Fi streaming to Blynk.Cloud & ThingSpeak |
| ROS 2, Physics Simulation & Embodied AI | Digital Twin & Autonomous Navigation | URDF, Gazebo, Wokwi, Python (RL & OpenCV) | Rigid-body dynamic physics validation, collision boundaries, and obstacle negotiation |
Credentials & Industrial Verification
| Accreditation | Issuing Organization | Asset Path | Status |
|---|---|---|---|
| Industry Accredited Training & Capstone Project Certification | My Equation (Supported by Industrial Partners) | /myequation/certificate.pdf | Verified & Issued |
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