Placeholder writeup — swap in the real project photos and copy.
Overview
Princeton senior thesis project: a wheeled bipedal robot with 6 actuated joints, driven by BLDC motors through ODrive FOC controllers, running on a Teensy 4.1 with an MPU6050 IMU for balance feedback. Custom quasi-direct-drive (QDD) actuators handle hip and leg joints for high torque transparency and back-drivability.
System
- Actuation: 6x BLDC motors, QDD gear reduction, ODrive FOC controllers
- Compute / control: Teensy 4.1, MPU6050 IMU
- Locomotion: wheeled feet for hybrid rolling/balancing gait
Notes
Full mechanical design, actuator sizing, and balance control writeup to come.