GRETA is a bipedal robot that was designed, build. and programmed 100% from scratch by four team members, including myself. It was built on a $500 budget and can stand and take a couple steps but we ran out of time to get further. The project will be passed on to new students. GRETEA incudes custom (possibly patent pending) electronic software CAMs to control our cheap hobby servos, multiple PIDs for balancing, and more. Converted all our code to Java to simulate the robot in Processing4.

theres more to add but im too tired hmu if you have questions