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CARA – High precision robot dog using rope
ARA (07/11/2025) Introduction CARA (Capstans Are Really Awesome) is my latest quadrupedal robot, following ZEUS, ARES, and TOPS. Built over the course of a year, CARA is easily my most dynamic and well-designed quadruped yet.
If you’re unfamiliar with how capstan drives work, I’ve made a 20-minute video — High Precision Speed Reducer Using Rope — that explains everything you need to know. The RK equations are used to calculate the foot positions required to rotate the robot’s body—about its center—in the roll, pitch, and yaw axes. The gait sequence alternates which pair of diagonal legs are in swing and stance phases, creating a continuous walking motion.
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