Catbot

The CatBot project is an experimental quadruped robot which uses non-traditional compliant actuators, in this case, McKibbin muscles. Influenced by the growing field of "soft-robotics", it focuses on naturally inspired designs and uses material science to create novel robotic components. The goal of this project is to explore the benefits and challenges of both soft muscles and 3D-printed components in robotic locomotion.

• Design a Closed Loop Proportional Valve controller with the following features:
  • Use of an STM32 Micro Controller
  • Able to control 8 valves
  • Able to control 2 compressors
  • CAN Communication
  • USB-DFU for programming
• Reinforce Legs with Aluminum rods to improve regidity and response to tortional loads.
• Integrate legacy control systems into ROS2 to enable the development of complex control systems