A grant project for a quadrupedal walking robot by members of the KN Integra.
CzłapCzap is a quadrupedal walking robot designed for research, prototyping, and educational purposes.
- Electronics – includes PCB design files (.gbr) viewable in KiCad EDA, along with a brief description of the custom schematic for the robot's control electronics.
- Mechanics – contains CAD models and assembly diagrams illustrating the robot's structure and joint configuration.
- Software – implements the control system using ROS2 and Python, with modular nodes for motion planning, leg kinematics, sensor handling, and hardware/simulation interfaces. Main code is available in a private repository. The architecture allows seamless switching between simulation (PyBullet) and real hardware while maintaining unified control logic.
