Tutorial: How to Make a Robot Dog?

I have a Huskey, Ryzen. I hope Ryzen has a brother, I will name it Radeon.

When I visited MIT's Biomimetic Robotics Lab this summer, I saw this:

So I think, why not I make Radeon for Ryzen?

I have done a lot of FRC and FTC for robotics competitions...

..., so I decide my Radeon should be based on parts, motors, and controllers that is certified by FRC.

Step1: Calculation. How many RPM I should choose to make sure the robot can stand?

Step2: Build up parts. This is the fun part, you decide which part uses what material, you weight it carefully to make sure they are within the budget, and you do a lot of SolidWork design and 3D-printings.

Step3: Make the first leg moving is very exciting: first I move it with my hands; and then the leg is moved by motors

...and it tests to be pretty strong:

Step4: With the concept proof from one leg, a long time is spent to implement all the parts and assemble them together:

Step5: Program and design postures

After I programmed the four legs to move, I found something very weird: every time after power-on, the legs moved for around half second, then none of them responded to my control.

After long-time debug, I found it was because of the power supply. There are eight motors in Radeon with required power of 480W in total. But the maximum power from the supply is limited to 300W. After changing a new power supply of 800W, all four legs work smoothly.

Step6: Yeah! Exciting time. See if Radeon can stand up...

It seems I still have some more work to do to make Radeon stand, walk, and then run.

It will be a long journey of a lot of obstacles before success.

But to me, failure is never an option.