Project Eragon

A compact, mostly 3D-printed bipedal walking robot (~30 cm tall / 1 ft) built as a hands-on robotics learning project.

Eragon is a bipedal robotics platform utilizing a Distributed Intelligence architecture. This repository contains the "Medulla" (Pi Bridge) and "Reflex" (ESP32 Actuation) layers.

Progress

• 3D Printer Ready
• Utilizing/Learning FreeCAD
• Testing End-to-End workflows
• Learning NVIDIA Isaac Sim
• Researching Mechanical components/best practices
• Bluetooth-controlled ESP32 Ready
• High Level Code Architecture Ready

Current Progress:
Designing Pelvis in FreeCAD/Setting up Sim

System Architecture

• Medulla: Coordination, Inverse Kinematics, and Serial Bridge. (Pi)
• Reflex: Low-level PWM and sensor feedback. (ESP32)

License

MIT License — feel free to fork, modify, and build your own version!

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Project Eragon – because even short robots can be mighty.