Iguana Bot was a project for my Bio-Inspired Robotics Class at the University of Maryland: College Park.   For the robot, a team of three students, including myself picked a video of an animal to inspire the design of a four legged robot.  The team used transformation matrices and Newton-Euler method to  map the objects kinematics and kinetics.  Finally the team used 3-d printing, motors, and an Arduino micro controller to build the final design.  The iguana robot below was the fastest robot in the class to complete the course on the carpet terrain competition and was able to complete all of the terrain courses.