Public prototype · Robotics
Quadruped Robot Leg
Designing, fabricating, and controlling a quadruped robot leg.
Context
The project
This personal project documents the front-right leg of a quadruped robot, from 3D design and open-source actuator integration to an assembled prototype controlled on a test bench.
Objectives
Design challenges
- 01
Design printable geometry integrating motors, belts, bearings, and sensors.
- 02
Validate motion in simulation and then on a physical prototype.
- 03
Control the mechanics in Rust while exposing a library usable from Python.
Visual evidence
The project in view
Architecture
Technical flow
Blender design → 3D-printed parts → OpenTorque actuators → Rust control → Python library → test bench
Scroll through the flow
Approach
Working steps
- 01
Adapt OpenTorque actuators and model the leg in Blender.
- 02
Print, assemble, and refine the mechanics on a dedicated bench.
- 03
Rewrite control in Rust and make it available to the Python environment.
Public repository
What the sources document
- The repository brings together design files, control software, simulation visuals, and the physical prototype test.
- The roadmap clearly distinguishes completed work from the assembly documentation still planned.