Edubot cropped 600 px tall
bottom view
Bottom view of robot 600 px tall
machining base frame
machining frame 600 px tall
machining motor mounts
machining motor mounts 600 px tall
components bead blasted and assembled
research robot aluminum frame 600 px tall
close-up of motor mount
Close up of motor mount 600 px tall
frame stiffness evaluated in FEA
FiniteElement 600 px tall

Edubot is a bio-inspired six legged robot that rotates compliant C-legs in a tripod fashion to produce energetic running gaits. A PD controller at each hip controls the leg’s angular position and speed which are governed by a periodic function known as the Buehler Clock. Careful gait tuning can lead to very fast and efficient locomotion and impressive performance on even the roughest terrains. Edubot, weighing in at 3 kg, is a smaller version of its parent RHex (8kg), and currently runs at a top speed of 2.42 m/s (5.4 mph).

Over the past several years, I have improved Edubot’s robustness through mechanical design. The first version of Edubot had a mechanical frame assembled from laser cut ABS parts. This required considerable assembly time to glue assemblies together and compliance in the frame eventually damaged soldered joints. To minimize repair time, I took the initiative to repackage the entire system into a more robust mechanical frame. This included an aluminum frame with ribbed structures to increase frame stiffness and reduce weight. The majority of these changes were incorporated into RespondBot RDK. I designed and manufactured every mechanical component including CNC machining the frame, motor mounts, shaft clamps, leg mounts, and laying up the carbon fiber shell and fiberglass C-legs.