MORPH Robot

Collaborators: Arunn Sankar, Mason Shackleford, Harbin Singh, Dante Santaniello

MORPH is a legged robot designed for dynamic locomotion and complex terrain navigation. The robot features advanced mechanical design with coaxial motors, precision leg mechanisms, and integrated electronics for robust walking and stability control.

MORPH Robot
MORPH Robot
MORPH Robot Labeled
MORPH Robot - Labeled Front View

Key Features

  • Dynamic legged locomotion with stability control
  • Coaxial motor design for compact actuation
  • Precision leg mechanisms with cable retraction
  • Integrated electronics and control systems
  • 3D printed and waterjet manufactured components
MORPH CAD
MORPH CAD Design
MORPH Exploded View
MORPH Exploded Assembly View

Mechanical Design

MORPH Leg
Leg Design
MORPH Leg Schematic
Leg Schematic
Coaxial Motors
Coaxial Motor Design

Electronics & Control

Electrical Schematic
Electrical Schematic
Electronics Assembly
Electronics Assembly
Electrical Assembly
Electrical Assembly
IO Panel
IO Panel

Manufacturing

3D Printing
3D Printing Process
Waterjet Setup
Waterjet Manufacturing
Assembly Process
Assembly Process
Chassis
Chassis Design
Servo Cutouts
Servo Cutouts

Stability & Control

Stability Triangle
Stability Triangle Analysis
Bill of Materials
Bill of Materials

Videos

Gait Animation
Ramp Walking
Ramp Standing
Simulation vs Walking
Robot Catch Demonstration
Tank Point of View