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Quadruped Walking Robot
Skills
CAD Design, Robotics & Gait Control, Raspberry Pi, Python, Electronics Integration, Wiring/Power, Bluetooth Audio
In a two-person project, we designed and built a fast, servo-driven quadruped robot from scratch, combining mechanical design, Raspberry Pi–based integration (wiring, power distribution, and servo interfacing), and an open-loop gait controller. We wrote the gait generation and motion sequencing ourselves, then iteratively tuned step timing, phase offsets, and servo trajectories through repeated testing to maximize speed while maintaining stability and reliability.
Journey Video
Watch the full journey of building our robot from scratch here!
Concept Direction — Walking Piano
After iterating through multiple walking-robot concepts, we committed to a quadruped platform. To make it personal (and fun), we designed the body as a “walking piano” and planned integrated Bluetooth speakers.
Early Sketch & Layout
First layout sketch used to lock in proportions, component placement, and the overall “piano on legs” concept before detailed CAD.
Component CADs
CAD breakdown of the most important parts of the robot body into manufacturable components—used to verify part interfaces, fastener locations, clearances, and assembly order before fabrication.
Electronics Integration & Service Access
Internal layout showing wiring, power distribution, and electronics integration, plus a hinged body design to make the system accessible for debugging, charging, and maintenance.
Leg Design → Prototype (CAD vs. Build)
Side-by-side comparison of the leg assembly in CAD and the printed prototype, used to validate geometry, servo fit, assembly clearances, and real-world range of motion before integrating into the full quadruped.
Motion Sequence
Frame-by-frame motion sequence illustrating the target leg trajectory through a full step cycle for stable walking.
Final Assembly (Exterior)
Completed CAD assembly of the walking piano robot, showing the final exterior design and overall proportions before fabrication.
Final Assembly (Service Access)
Assembly view with the hinged top opened, highlighting the internal layout and how the body provides access for wiring, electronics, and maintenance. The walking and programming progress can be found in the
Onboard Control (Raspberry Pi + Bluetooth)
Initial control code running on an onboard Raspberry Pi powered by an internal battery, enabling fully untethered operation. The Pi drives the gait sequence for walking and also connects via Bluetooth so the robot can play music through the integrated speaker system—see the journey video for the full walking progress.
Journey Video
Watch the full journey of building our robot from scratch here!
Concept Direction — Walking Piano
After iterating through multiple walking-robot concepts, we committed to a quadruped platform. To make it personal (and fun), we designed the body as a “walking piano” and planned integrated Bluetooth speakers.
Early Sketch & Layout
First layout sketch used to lock in proportions, component placement, and the overall “piano on legs” concept before detailed CAD.
Component CADs
CAD breakdown of the most important parts of the robot body into manufacturable components—used to verify part interfaces, fastener locations, clearances, and assembly order before fabrication.
Electronics Integration & Service Access
Internal layout showing wiring, power distribution, and electronics integration, plus a hinged body design to make the system accessible for debugging, charging, and maintenance.
Leg Design → Prototype (CAD vs. Build)
Side-by-side comparison of the leg assembly in CAD and the printed prototype, used to validate geometry, servo fit, assembly clearances, and real-world range of motion before integrating into the full quadruped.
Motion Sequence
Frame-by-frame motion sequence illustrating the target leg trajectory through a full step cycle for stable walking.
Final Assembly (Exterior)
Completed CAD assembly of the walking piano robot, showing the final exterior design and overall proportions before fabrication.
Final Assembly (Service Access)
Assembly view with the hinged top opened, highlighting the internal layout and how the body provides access for wiring, electronics, and maintenance. The walking and programming progress can be found in the
Onboard Control (Raspberry Pi + Bluetooth)
Initial control code running on an onboard Raspberry Pi powered by an internal battery, enabling fully untethered operation. The Pi drives the gait sequence for walking and also connects via Bluetooth so the robot can play music through the integrated speaker system—see the journey video for the full walking progress.
Journey Video
Watch the full journey of building our robot from scratch here!
Concept Direction — Walking Piano
After iterating through multiple walking-robot concepts, we committed to a quadruped platform. To make it personal (and fun), we designed the body as a “walking piano” and planned integrated Bluetooth speakers.
Early Sketch & Layout
First layout sketch used to lock in proportions, component placement, and the overall “piano on legs” concept before detailed CAD.
Component CADs
CAD breakdown of the most important parts of the robot body into manufacturable components—used to verify part interfaces, fastener locations, clearances, and assembly order before fabrication.
Electronics Integration & Service Access
Internal layout showing wiring, power distribution, and electronics integration, plus a hinged body design to make the system accessible for debugging, charging, and maintenance.
Leg Design → Prototype (CAD vs. Build)
Side-by-side comparison of the leg assembly in CAD and the printed prototype, used to validate geometry, servo fit, assembly clearances, and real-world range of motion before integrating into the full quadruped.
Motion Sequence
Frame-by-frame motion sequence illustrating the target leg trajectory through a full step cycle for stable walking.
Final Assembly (Exterior)
Completed CAD assembly of the walking piano robot, showing the final exterior design and overall proportions before fabrication.
Final Assembly (Service Access)
Assembly view with the hinged top opened, highlighting the internal layout and how the body provides access for wiring, electronics, and maintenance. The walking and programming progress can be found in the
Onboard Control (Raspberry Pi + Bluetooth)
Initial control code running on an onboard Raspberry Pi powered by an internal battery, enabling fully untethered operation. The Pi drives the gait sequence for walking and also connects via Bluetooth so the robot can play music through the integrated speaker system—see the journey video for the full walking progress.
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