We designed and built a 12 degree-of-freedom (3 servos per leg × 4 legs) quadruped robot controlled by a Raspberry Pi Pico W, featuring integrated environmental sensing and a wireless WiFi controller. Starting from a custom CAD body and 3D-printed frame, the robot combines mechanical engineering and embedded electrical engineering to create a platform capable of coordinated four-legged locomotion, heading determination, environmental mapping, and target detection. In order to do so, our system leverages several sensors including an IMU, a solid state LiDAR sensor, and a contact-less infrared sensor.
