This repository contains all the main files involved in the development of the Final degree project in Electronic Systems Engineering from the University of Malaga.
- PCB_ESP32_UnaCara_Galgas: This folder contains all the files from the KiCad project (PCI/PCB development).
- STL Biped Robot: This folder contains all the STL files of the 3D printed parts used to build the robot.
- analog_pid_IMU_esp32_v2: This folder contains the Arduino codes for the stability control (the analog part is commented and not used).
- ik_v14_esp32: This folder contains the Arduino codes for making the robot walk (mainly inverse kinematics).
Walking demo video:
Stabilization demo video:
