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AlphaDog: ESP32-Based Quadruped RoboDog

📑 5 slides 👁 12 views 📅 2/20/2026
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Introduction to AlphaDog

AlphaDog is a quadruped robot powered by ESP32, designed for advanced mobility.

Introduction to AlphaDog
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ESP32 Microcontroller

  • ESP32 offers dual-core processing, ideal for real-time gait control.
  • Provides PWM support for precise servo motor movements.
  • Integrated WiFi/Bluetooth enables remote control and data streaming.
ESP32 Microcontroller
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Mechanical Design

  • 3D-printed lightweight frame with aluminum alloy joints for durability.
  • 2DOF vs 3DOF leg comparison: 3DOF enables omni-directional movement.
  • Optimized center of gravity for stability during dynamic gaits.
Mechanical Design
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Control System

  • Uses inverse kinematics for smooth leg trajectory planning.
  • Gait algorithms include walk, trot, and crawl modes.
  • Wireless interface allows control via mobile app or web dashboard.
Control System
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Future & Conclusion

  • Potential for AI integration: object recognition and autonomous navigation.
  • Camera module could enable real-time environment mapping.
  • AlphaDog demonstrates affordable, open-source quadruped robotics.
Future & Conclusion
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