Mechatronics and Robotics Engineer
Yaksh Butani and Neel Dave
2025-10-02 -> Present
Overview
I am currently designing and building a fully functional quadruped robot from the ground up, integrating mechanical design, electronics, and embedded software into a single autonomous platform. The project involves developing structural components in SolidWorks, designing custom PCBs in KiCad, and integrating sensors and servo-driven actuation systems controlled through a Raspberry Pi running Linux-based motion algorithms. Through this work, I am gaining hands-on experience in robotics system architecture, embedded control, hardware–software integration, and iterative prototyping, while exploring stable gait generation and real-time motion control for legged locomotion.
Key Features
12-DOF legged locomotion system using 3 servos per leg, enabling independent hip, shoulder, and knee articulation for stable and adaptive gait generation
Fully custom mechanical structure designed in SolidWorks with emphasis on strength, weight reduction, and modular assembly for rapid iteration
Custom PCB design developed in KiCad to manage servo power distribution, signal routing, and sensor integration
Raspberry Pi–based control architecture running Linux for high-level motion control, gait sequencing, and sensor processing
Integrated sensor feedback system supporting future expansion into closed-loop balance control and terrain adaptation
Servo synchronization and motion algorithms implemented to support coordinated walking patterns and smooth leg trajectory planning
Modular electronics and wiring layout designed for maintainability, debugging efficiency, and scalability
Platform-ready architecture for future upgrades, including computer vision, IMU-based stabilization, and autonomous navigation capabilities
