2025-Now
Morphologically reconfigurable quadruped robot that adjusts its stance for different terrain and manipulates objects with forearm manipulators.
MORPHONEX is a complete robotic quadruped modeled in Onshape and SolidWorks — frame, articulated legs, drivetrain, and reconfigurable body mechanisms.
The power and control architecture runs a LiPo battery into a 24V rail driving high-torque gimbal motors over a CAN loop to a Teensy 4.1, with a Raspberry Pi 5 on a separate 5V rail for compute.
I derived the inverse kinematics needed for the quadruped to walk and balance on its own, and tuned individual motor PID controllers for positioning accuracy, response time, stability, and disturbance correction.
Reconfigurable body mechanisms let it adjust its stance for different terrain conditions and manipulate objects using forearm manipulators.