Project
P.A.W.S. Quadruped Robot
RASTIC · Boston University · Sep 2026 – present
P.A.W.S. is a quadruped walking robot with a 4-DOF manipulator arm and a 4-DOF camera mount, being built through the RASTIC robotics team at Boston University.
- Role
- Mechanical design and kinematic modelling
- Tools
- Onshape, Raspberry Pi, ESP32
- Mechanical
- Embedded
Problem
The robot has to walk on four legs, carry a manipulator arm and keep a camera pointed where it is needed, all within the strict weight and size limits of the chassis.
Approach
We are using coordinate-frame transformations and forward kinematics to model the joint geometry of the 12-DOF leg assembly and the 4-DOF manipulator arm.
I am leading the mechanical design of the 4-DOF camera mount in Onshape, engineering the joint geometry and range of motion so the camera covers its full field of view within the chassis limits.
We selected a Raspberry Pi and an ESP32 as the planned control hardware for motor and sensor integration.
Results
In progress since September 2026.