Quadropod
DEC 2025| Personal Project
Introduction
Quadropod is a four-legged robotic platform designed for stability and adaptability. Unlike wheeled robots, it can navigate uneven terrain with ease. This project explores the intersection of mechanical engineering, electronics, and software control loops.
Features
• **Inverse Kinematics**: Calculates precise servo angles for smooth foot positioning.
• **Self-Balancing**: Uses IMU data to maintain stability on slopes.
• **Wireless Control**: Operated via a custom mobile app over Bluetooth/WiFi.
• **Self-Balancing**: Uses IMU data to maintain stability on slopes.
• **Wireless Control**: Operated via a custom mobile app over Bluetooth/WiFi.
Tech Stack
ControlLoop.cpp
1// Firmware Control Loop (C++)
2void loop() {
3 readSensors();
4 calculateIK();
5 updateServos();
6 delay(10);
7}