Justin MulhallProjects / Selected work

Selected projects.

Robotics, embedded systems, mechanical design, and controls. Gordo appears first, followed by the eraser collection system and Tri Coach.

Start with Gordo

Flagship robotics build

Final build · moving untethered Demo from GitHub

GORDO / QUADRUPED / 2026

Gordo quadruped robot.

Eight-servo walking robot developed across mechanical architecture, printed parts, wiring, embedded firmware, browser control, and gait design.

Model

Custom Onshape chassis and four 2-DOF legs

Wire

ESP32-S3, PCA9685, power rail, and eight servos

Move

Live-tuned crawl gait with WiFi control

8powered joints

2SLiPo power

WiFilive gait tuning

Details, firmware, CAD & controller on GitHub

Additional projects

Selected work.

Project summaries are shown here. Source code, CAD, schematics, documentation, and full technical records are available on GitHub.

Close-up of the green autonomous eraser collector robot and its sensors

Prototype close-up

Robotics Open project

02 / Team systems project2026

Autonomous eraser collector + sorter

Team-built closed-loop system for detecting, collecting, classifying, and sorting erasers. Contributions included collector CAD, ESP32 control logic, IMU filtering, and repeatable docking.

Details, code, CAD & schematics on GitHub

Tri Coach endurance coaching app dashboard

Software Open project

03 / Personal software2026

Tri Coach

An AI-assisted endurance coach combining Garmin readiness, periodized training, conversational planning, and calendar sync in a responsive progressive web app.

Details, source & documentation on GitHub

All public builds, firmware, drawings, and project notes live on GitHub.

github.com/justinmulhall13