on the bench, personal project · in progress
HAFO
A twelve-servo robotic dog I'm building right now: four articulated 3-DOF legs, inverse kinematics and a 3D-printed frame.
What it is
HAFO is a quadruped robot dog I am building from scratch. Each of the four legs has three degrees of freedom driven by twelve servos in total: hip abduction, hip pitch and knee pitch.
What goes into it
- Twelve rotary servos arranged as four 3-DOF legs, giving full body pose control and gait planning.
- 3D-printed structural frame and double-rail leg links designed in CAD for stiffness without dead weight.
- Embedded servo control, power distribution for peak stall currents, and inverse kinematics on the bench.
Where it is
Currently on the bench, going from CAD and joint tests to standing up and walking.
Stack
- 12× servo actuators
- Inverse kinematics
- Microcontrollers
- Power electronics
- CAD & 3D printing
threads: Telemetry & protocols, Microcontrollers, PCB design, 3D printing & CAD