Building a walking robot base
4/21/2025 • robotics, hardware, control
Legged locomotion starts with power distribution and weight. I prototyped a hexapod base that keeps the center of mass low and batteries swappable.
Highlights:
- Brushless gimbal motors with gear reduction for torque.
- Soft silicone feet for grip and compliance.
- A split-brain controller: STM32 for tight loops, Linux SBC for planning.
// Hip controller tick
pid_update(&hip, target, sensed);
mix_to_pwm(&hip);
The result: a stable gait that handles gravel and curbs without drama.