We present a computational design system that allows novices and experts alike to easily create custom robotic devices. The core of our work consists of a design abstraction that models the way in which electromechanical components can be combined to form complex robotic systems. We use this abstraction to develop a visual design environment that enables an intuitive exploration of the space of robots that can be created using a given set of actuators, mounting brackets and 3d-printable components. Our computational system also provides support for design auto-completion operations, which further simplifies the task of creating robotic devices. Once robot designs are finished, they can be tested in physically simulated environments and iteratively improved until they meet the individual needs of their users.

Work done at: Robotics Institute, Carnegie Mellon University.

1. Body (multiple 3d printed parts) -- since we needed a bigger body plate (more than our printer volume), we broke it into parts that could be fixed with clamps. All these files (clamps, and parts) are attached.
2. feet (3d printed) -- we used 2 styles of feet (one for 2 front legs, and one for 2 rear legs).
3. XM-430 dynamixel motors (3 for each front leg, 4 for each rear leg)
4. metal brackets for connections.