Robotics & hardware ·
A homemade two-legged robot walking and turning on its own, single take, no cuts.
The gait comes from a locomotion policy trained in simulation, fitted to a Fourier series, then run as a central pattern generator - lightweight enough to run as plain math on the robot's onboard RP2040 with nothing else attached. The same model even absorbs an extra 350g of battery without re-tuning.
Everything is open source, CAD included. The whole build is one person.
Made by u/mishaurus. This write-up follows the original post; it is not an independent product test.
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