Squeaky

At the Terrestrial Robotics Engineering and Controls (TREC) Laboratory, at Virginia Tech, I spearheaded the mechanical design of 'Squeaky', an affordable and modular quadruped robot. This project was driven by the goal of creating a cost-effective and adaptable robot, leveraging 3D printing technology to achieve its modular-like structure.

Drawing from my experience with the PANDORA project, my role in the Squeaky project was centered on enhancing the design to make the robot accessible for educational, research, and DIY purposes for users of all ages. The focus was on simplifying the manufacturing and assembly processes, ensuring that Squeaky could be easily adapted for a range of applications.

A critical aspect of my work was to balance performance with cost-effectiveness. This was achieved by incorporating off-the-shelf components and standardizing screws and bearings for versatility and ease of replacement. The design process was characterized by an iterative and collaborative approach, with continuous testing and refinement to ensure that each part of the robot was not only functional but also user-friendly in terms of assembly.

An interesting development in the project was the creation of two versions of Squeaky to accommodate different computing platforms. The original design was based on a Libre or Raspberry Pi board, leading to a more compact structure. However, recognizing the need for more computing power, a second version was developed to integrate the Nvidia Jetson board. This adaptation resulted in a slightly longer design to accommodate the larger board size, thereby offering users two distinct choices based on their computational needs and preferences.

In conclusion, the Squeaky project stands showcases the potential of integrating advanced technology with user-centric design principles. It reflects a commitment to making robotics more accessible and adaptable, contributing significantly to the field of educational and research robotics.