<ul data-eligibleForWebStory="false"><li>CARA is a robotic dog designed by [Aaed Musa] using 3D printed parts and brushless motors, with ropes used to tie the motors and legs together for locomotion.</li><li>The design utilizes carbon fiber tubes for rigidity, 12 large brushless motors for torque, ODrive S1 motor controllers, a Teensy 4.1 microcontroller, a BNO086 IMU for sensing position, and a 24V cordless tool battery for power.</li><li>Inverse kinematics math was used to achieve leg movement in all three axes, enabling CARA to move naturally and handle inclines.</li><li>Tweaks were made to the design and additional tuning was done to enhance CARA's walking motion, showcasing [Aaed Musa]'s innovative approach to robotics.</li></ul>

From Leash to Locomotion: CARA the Robotic Dog

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