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Differential Drive Robot

I wanted to deeply understand key concepts in mobile robotics and see how they translate into practice. Building a differential drive robot proved invaluable for this. It allowed me to explore ideas I had been thinking about — designing a fully modular system, applying control engineering principles for stability, coordinating components with real-time requirements alongside those performing heavier computations. The project was also highly educational on the construction side, from choosing the right components to 3D printing and designing a PCB.

SCARA

Building a robot is truly the best ways to really understand robotics concepts. Studying how to derive the inverse kinematics, plan trajectories, defining a timing law and so on I remember asking myself: how do this stuff actually work in real life? Now that we have all the theory set up, how do we actually make the robot move and do what we want? This is the reason why I started developing my SCARA. I kept things simple from a control point of view (no fancy hardware) and this, together with a careful choice of mechanical components (low cost and off-the-shelf parts), resulted in the design of a low-cost, affordable, open-source desktop robot arm thought for people who, like me, want to get their hands dirty.

Hexapod

Work in progress.