Graduate Capstone
Aug 2025 - Dec 2025
This exploratory project introduces hydra, a slinky-inspired tendon-driven continuum robot designed to study a new form of mobile, compliant locomotion. Its lightweight modular units bend through coordinated antagonistic tendon actuation to produce slinky-like motion while maintaining high torque-to-weight ratio. All motors, electronics, and batteries are integrated into the feet, enabling fully untethered wireless control. While tendon-driven continuum robots are common in manipulation research, their use for locomotion is largely unexplored. Hydra demonstrates a novel approach to tendon-actuated movement and provides a versatile hardware platform for investigating distributed actuation, bio-inspired mobility, and locomotion in confined or unstructured environments. Visit my dedicated project website here for more details.
![[digital project]](https://cdn.prod.website-files.com/68c0bc3f109f56bcfb9fe18c/69488bce59a4c3302b5ec34b_IMG_5278-min.jpeg)




![[digital project]](https://cdn.prod.website-files.com/68c0bc3f109f56bcfb9fe18c/69488f23e64fbec9529f0c7b_Assembly_Module_Unit_v5.gif)
![[digital project]](https://cdn.prod.website-files.com/68c0bc3f109f56bcfb9fe18c/69488f26a5a8aabcdbed8dc8_Assembly_Foot_1_v6.gif)