Robotics • Embedded Control • Prototyping

Suction-Based Quadruped Robot

Early-stage four-legged suction climber integrating 3D-printed legs, stepper-driven arms, and mini vacuum pumps controlled via Arduino Mega. Built and tested as a team project in ME225, with my contributions focused on the suction and release subsystem, power distribution, and bench-level debugging when real component behavior differed from datasheets.

Arduino Mega 28BYJ-48 Steppers Mini Vacuum Pumps Solenoid Release Valve Power Distribution Bench Debugging
Suction-based quadruped robot prototype on whiteboard test surface
Prototype test on a smooth surface (whiteboard). LEDs indicate active control during runtime.

System Overview

  • Locomotion concept: alternating suction attachment and release while stepping arms reposition the body.
  • Actuation: stepper motors drive arm motion; each foot uses a dedicated mini vacuum pump for adhesion.
  • Control: Arduino Mega sequencing for attachment, detachment, and movement.

Electrical & Power

  • 5 V rail supplying stepper motors (~1.5 A observed during transitions).
  • 3.3 V rail supplying pumps (~640 mA total observed) plus solenoid actuation (~0.33 A).
  • Bench verification using multimeter checks for voltage stability, current draw, and noise during attach/release.

What I Did

  • Sourced suction hardware and implemented a solenoid-based vent/release method to break vacuum on command.
  • Integrated wiring and power distribution; validated 3.3 V and 5 V rails under real load conditions.
  • Observed uneven release timing across legs and iterated on sequencing and airflow paths during testing.

Key Technical Challenges

  • Suction release inconsistency driven by airflow path sensitivity and leakage.
  • Non-uniform vacuum distribution causing one leg to lag during release.
  • Pump and motor transitions introducing voltage sag and noise; wiring and pump configuration changes provided partial improvement.
Close-up of wiring integration during testing
Hands-on integration — suction hardware and power wiring debug during active test runs.
Full system bench test on wooden table
Full-system bench test on a wooden surface to evaluate suction and release behavior under real wiring loads.
Build Log

Additional prototype-stage photos included for system context without overstating ownership of the full mechanical design.

Underside reference of early prototype layout
Underside reference showing early prototype layout and suction mounting.

Future Improvements

  • Standardize suction line routing so each leg sees similar flow resistance and release timing.
  • Refine vent and valve placement to make detachment repeatable across surfaces.
  • Improve power delivery and regulation to reduce voltage sag during transitions.
  • Add simple vacuum or pressure feedback per foot to confirm attachment and flag stuck legs.

Potential next step: quick power and thermal budget covering pump draw, driver losses, and regulator dissipation.