quadrupedal mobile Robot with wheels

B.tech my final year project.

I have designed and fabricated a quadrupedal mobile Robot with wheels (20-2-2021). The controller will be simulated and verified in MATLAB before hardware implementation. The has 4 legs with 8 joints. All joints are actuated using MG995 servos. And all four Wheels are actuated using DC Motors. The kinematics and dynamics of the robot will be computed and will be used for simulation and controller design.