Monopod Robot SAHR

This project focused on the mechanical design and optimization of the Single Actuated Hopping Robot (SAHR), developed by the Legged Robots Team at the Control Systems Laboratory (CSL) for dynamic locomotion and control research.

I led the design, fabrication, and system integration of the robot’s chassis, targeting major improvements in weight reduction, power transmission efficiency, and experimental versatility.

Key Achievements:

• Lightweight Hybrid Chassis Design
Engineered a lightweight aluminum–composite hybrid structure, reducing the overall chassis mass by 46% and significantly improving energy efficiency and hopping dynamics.

• Enhanced Transmission Performance
Upgraded the leg transmission system to enable full motor torque utilization, improving power delivery and motion consistency during rapid actuation cycles.

• Precision Machining & Fabrication
Designed, CAM-programmed, and CNC-machined all metal and composite components using a 3-axis HAAS Mill, ensuring tight tolerances and mechanical reliability.

• Treadmill-Compatible Restraining System
Developed a custom linear-guide-based restraining mechanism to stabilize the robot during treadmill experiments, allowing for safe, repeatable, and controlled locomotion testing.

• Sensor & Electronics Integration
Integrated sensors and electronic subsystems within the chassis to enable real-time performance monitoring and data acquisition during hopping trials.