PEGASUS Quadruped Robot V1
End-to-End Leg Development
PEGASUS Leg V1 represents the evolution of the validated V0 prototype into a production-ready robotic subsystem.
The new design focuses on high mechanical performance, lightweight construction, structural robustness, environmental protection, and design for manufacturing.
2025 - Present
PEGASUS Quadruped Robot Leg Prototype (V0)
Design and development of a high-torque (220 Nm), ultra-lightweight (2.6 kg) robotic leg with sealed joints for operation in extreme lunar environments.
2025 - 2026
HyQ Real 3 — Actuators and Legs Assembly
End-to-end assembly of 12 custom inrunner actuators and complete HyQ-Real-3 legs modules from individually manufactured components. The project highlights hands-on expertise in precision assembly, actuator internals, torque-controlled fastening, mechanism integration, and preparation of advanced robotic hardware for system-level testing.
2024
Autonomous Litter Collection System for Quadruped Robots
Development of a mobile manipulation system enabling quadruped robots to detect, grasp, and collect litter in unstructured outdoor environments.
2024 - 2025
5-DOF Variable-Stiffness Compliant Arm for Collaborative Payload Transport on Quadruped Robots
Design of a 5-DOF passive robotic arm enabling coordinated load transport between two quadruped robots carrying heavy payloads.
2025 - 2026
Infrastructure Inspection using Quadruped Robots and Drones
Development of an autonomous inspection system combining legged robots and drones for detecting structural defects such as cracks.
2024 - 2025
HyQ Real 1 - HyQ Real 2 - HyQ Real 3:
Assembly, Development, Maintenance
Hands-on development, assembly, integration, testing, maintenance, and mechanical improvement of IIT’s HyQ Real quadruped robot platforms.
2023 - Present
Rotor Assembly Rig
Design of a robotic manipulation system for autonomous pruning tasks using a mobile robot platform in agricultural environments.
2024
Supported With:
VINUM Project: A robotic platform for grapevine winter pruning automation
- Mechanical Integration for a Mobile Manipulation System
VERO Project: A vacuum-cleaner-equipped quadruped robot for litter removal in hard-to-reach environments
- Mechanical Support and System Improvement for a Quadruped Litter Collection Robot
2024 - 2025
My Projects at FUM Robotics Lab
Wearable EMG Sensor System for Human Motion Monitoring
Lower-Limb Exoskeleton Foot Design and Optimization
Self-Balancing Two-Wheeled Robot: Dynamics and Control
2-Axis Robotic System for Non-Destructive Inspection
Designed and developed a high-precision 2-DOF robotic system with optimized mechanical architecture for automated eddy-current NDT, achieving industrial-level inspection accuracy at significantly lower cost
Train Switch Machine & Pantograph (Urban Railway Company)
Performed mechanical redesign of railway switch machines and pantographs, delivering detailed CAD models, BOMs, and manufacturing-ready documentation.
2-DOF Parallel Robot Motion Simulator
Developed a parallel robot platform capable of simulating real-world motions (e.g., driving, flight, earthquakes) using Arduino-based control.
8-Legged Bio-Inspired Walking Robot
Designed and Built a Theo Jansen-inspired walking robot capable of traversing uneven terrain through efficient mechanical linkage design and fabrication.
And Other projects ...
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