Columbia SHAPE

In the summer of 2023, I attended Columbia University's SHAPE Engineering Program in Advanced Robotics, where I built a quadruped walking robot from the ground up. I handled 3D modeling of the frame, implemented inverse kinematics for leg coordination, and integrated motor control, sensor feedback, and wireless communication using MATLAB and Arduino. I prototyped and tested systems across multiple iterations, fixing mechanical flaws (lots and lots of them), debugging code, and refining gait patterns. Despite a bunch of failures along the way, I pushed through the setbacks and got the robot walking with functional sensing and control.

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Check out the code: Link