Torsobot V2

The V2 version of Torsobot was the discrete wheeled platform I developed mainly to study different walking gait at The Biomechatronics, Assistive Devices, Gait Engineering, and Rehabilitation Laboratory at the University of Wisconsin–Madison.

The system is equipped with

• Raspberry Pi 3B for computation

• Arduino Nano for sampling the encoder

• IMU sensor for pose estimation

• DC motor for main actuation

• Servo motor for active kicker mechanism (not pictured)

Here is our lab video that featured the robot I developed:

UW-MADISON BADGER LAB

Torsobot V1

This platform was the initial torso bot that I worked on. The initial platform was a proof of concept but had issues such as out-of-sync data streams. Many of these problems were improved in the V2 version.

You can read more about the project here: https://uwbadgerlab.engr.wisc.edu/research/