Mechanical · Robotics
Humanoid Quadruped Walker (Simulation + Physical)
Advanced 7 weeks 50-80 hours
Simulate 4-legged gait generation in Gazebo. Build scaled physical prototype. Implement dynamic walking. Show stability analysis and energy efficiency metrics.
Major
Mechanical
Focus area
Robotics
Total hours
50-80 hours
What you'll need
- MG996R metal gear servo motor 12 pack
- aluminum V-slot extrusion profile 2020
- Arduino Mega 2560 R3 microcontroller board
- Gazebo simulation (free)
- MPU6050 6-axis accelerometer gyroscope sensor module
- 18650 lithium rechargeable battery pack
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Steps
- Model the quadruped in Gazebo and simulate a basic walking gait.
- Build the frame from the aluminum extrusion and mount 3 servos per leg.
- Program the gait on the Arduino Mega using angles from your simulation.
- Add the IMU to measure body tilt and adjust the gait for balance.
- Measure walking speed, stability, and battery use.
- Compare the simulation to the real robot and document both for your portfolio.
What to photograph for your portfolio
- Gazebo gait simulation
- physical robot trotting video
- stability analysis
- energy consumption graph
- comparison
Resume bullet starters
Copy one, then swap in your own numbers.
Engineered a humanoid quadruped walker using Gait generation, dynamics simulation, servo control
Applied ROS and mechanical design to implement, test, and validate the analysis end-to-end
Quantified performance with [insert your result, such as accuracy, error reduction, response time, or load capacity] after iterative tuning
Skills you'll show off
Gait generationdynamics simulationservo controlROSmechanical designphysics