Columbia University Robotics Studio (MECE E 4611) | Grade: A+
Project Overview Developed a multi-link biomimetic robotic platform to study the translation of biological gait patterns into mechanical constraints. This project integrated advanced FEA simulation, embedded programming, and structural optimization to create a robust, manufacturable prototype capable of replicating undulating reptilian motion.
Technical Responsibilities & Methodologies
Biomimetic Mechanism Design: Engineered a complete mechanical system using Raspberry Pi for centralized control and high-torque servo motors for precise biomimetic actuation.
Control Algorithm Development: Programmed all automated motion routines in Python using Inverse Kinematics to synchronize multi-joint movements and manage gait transitions.
Structural Optimization (FEA): Utilized SolidWorks for CAD modeling and Ansys (FEA) for finite element analysis to rigorously optimize stress distribution and improve chassis durability.
Design for Manufacturing (DFM): Refined part geometry through DFM and Lean principles, achieving a 14% reduction in material volume and total 3D printing time.
System Validation: Managed end-to-end assembly and iterated on mechanical tolerances to ensure consistent part fit and smooth joint actuation under varying load conditions.
Key Achievements
Functional Biomimetic Prototype: Successfully demonstrated the seamless integration of embedded Python systems with mechanical hardware to replicate the "undulating crawl" of a crocodile.
Measurable Efficiency Gains: Validated DFM methodologies by achieving a 14% reduction in fabrication time while maintaining full structural integrity.
Academic Excellence: Awarded the highest possible grade (A+) in a graduate-level robotics course for technical innovation and execution.