Bipedal Walking Robot

At the PROOF Lab at Stevens Institute of Technology, I developed a functional bipedal robot designed to traverse uneven terrain under load. The system features a custom hip-centered actuation architecture that controls hip, knee (via mechanical linkage), and ankle roll/yaw — adding two additional degrees of freedom at the ankle while reducing leg inertia by approximately 30%. I used FEA in SolidWorks to optimize structural components for strength-to-weight performance and delivered the completed prototype on budget, presenting the results to senior research engineers.