Mudskipper Robot, 2022
Demonstrating multimodal (land + water) locomotion.
Chassis
FDM 3D Printed by black PLA
Locomotion
Two three-stage DC motors powering pectoral fins, Helical scotch-yoke-like mechanism driving tail w/ elastomer strips
Electronics and Control
Xiao SAMD21 board with smaller motor leads + water sensor
Encapsulation
Soft shell Ecoflex mold encapsulating hard shell
