During my time at Iguana Robotics, Inc. I had the opportunity to help design and build a few new robot platforms:

Marilyn - The first robot I helped design at Iguana during my internship. I did about half of the mechanical design on the first iteration of Marilyn. This robot is unique in that it has an actuated toe. The legs are cable-driven by 2 hobby servos per joint with an inline spring. This lets us control the stiffness of the joint dynamically.

TomCat - The second robot I helped design during my internship. I had a much larger role in designing this robot than Marilyn. After I came back to Iguana to work full time, I extended this robot with another motor in the torso. This robot has force sensing resistors on each foot to be able to adjust it's posture for even weight distribution.

Snappy - Although I did not design this robot, I designed and built the sensor and power system. This included a rack mount box with the motor controllers and power supplies. It also included an intermediate sensor consolidation circuit board that fits discretely inside the torso of Snappy.