AbdurrahmanAderinto

Control engineer building legged robots, hexapods and UGV swarms.

Legged robots.

A quadruped starts as a CAD assembly: hip actuator, thigh, knee actuator, shin. Link lengths and masses are decisions the controller inherits.

Thigh L₁: 0.36m
Shin L₂: 0.38m
Joints: 8

Closing the loop.

A gait generator sets foot targets, inverse kinematics turns them into joint angles, and a loop closes around each joint. This is the front-left leg, live.

Hip θ₁: 0.0°
Knee θ₂: 0.0°
Gait: 1.4Hz
Speed: 0.00m/s

A hexapod for the power grid.

I built a six-legged robot for power-grid maintenance, to inspect power-system components without sending a person up the tower. It is published in e-Prime (Scopus Q1) and was presented at ICEIT 2023.

Legs: 6
Gait: Tripod

Read the paper

Swarms of ground vehicles.

Many vehicles, one plan. Each UGV steers from what its neighbours are doing, and the formation re-forms when the plan changes. The readout is how far the swarm is from its formation, live.

Vehicles: 16
Formation: Line
Error (sim): 0.00m

One discipline, three kinds of robot.

Four legs, six legs, many wheels. The machine changes; the loop does not: sense, estimate, decide, actuate.

Role: Control Engineer, Robotics
Affiliation: KFUPM — Control & Instrumentation
Published: e-Prime, 2024 (Scopus Q1)
Client work: Upwork, verified freelancer

Engineering

Data pipelines, document extraction and reporting automation for teams whose data arrives in twelve incompatible formats. Case studies with numbers, not adjectives.

/engineering

Research

Legged locomotion, a hexapod for power-grid maintenance and UGV swarms, grounded in control. Publications, current work, and how to cite it.

/research

Let's build something that holds its setpoint.

Overshoot 20.5%Settling (2%) 1.48 sExample second-order loop, ζ 0.45, ωₙ 6 rad/s

Open to consulting work and research collaboration.

Email me