Robotics Research

Distributed Motor Controller Electronics

Humanoid Robot, Dash

Designing custom 48V motor controller PCBs for a humanoid robotics platform, built around an STM32F446 microcontroller and DRV8353S gate drivers to control three-phase brushless motors at up to 30A per phase. The compact circular boards integrate multi-stage power regulation (48V → 12V → 5V → 3.3V), current sensing for torque control, magnetic encoder interfaces, and CAN bus networking to support distributed control across 12+ actuators. I am also developing embedded firmware for the controllers, implementing real-time CAN communication for command and telemetry. Using STM32 HAL and an MCP2542FD transceiver, the system enables reliable bidirectional communication with the host computer for coordinated robotic motion.

High-Current Power Distribution System

Humanoid Robot, PresToe

Contributing to the redesign of a 48V high-current power distribution and battery management system for a bipedal humanoid robot. The system supports peak loads exceeding 400A and is being redesigned to improve reliability and protection against voltage transients caused by inductive loads. The design integrates MOSFET power stages, TVS-based transient suppression, Hall-effect current sensing for high-current accuracy, galvanic isolation to prevent ground loops, and STM32-based CAN telemetry for real-time voltage and current monitoring. Responsibilities include schematic design, component selection, and preparation of a 6-layer mixed-signal PCB to support safe and reliable power delivery for dynamic robotic actuation.

More Information

  • Category: Research
  • Technologies Used: KiCad, STM32F446, STM32 HAL, CAN 2.0, MCP2542FD, DRV8353S, MA732 Encoder, Hall-effect current sensing, MOSFET power stages
  • Project Links:
  • Lab Website