Stephane Constantin

Electronics and Embedded Engineer


About me: I have developed electronic products for the consumer and research industry, including educational toys, walking robots, and balloon weather systems. I graduated from Cornell University with a BSc in Electrical and Computer Engineering and was a Research Assiatant in Hod Lipson's Creative Machines Laboratory. I can help in designing and prototyping circuit boards, coding firmware for microcontrollers and manufacturing support. Please see below some of my projects.  






The Fab@Home is an open-souce personal desktop fabber. It can print any 3D objects out of several types of material. I am developing the circuitry and firmware for the next generation fabber. The circuit will be capable of driving 6 stepper or DC motors with optical encoder feedback, 2 RC servos,16 digital IO's, 8 ADC's, 2 DAC's. Motor instructions are received from a PC via USB and a tailor-made communication protocol. Three motors drive a x,y,z stage and control the location of a deposition tool. Video of Fabber


This amoeba-inspired robot follows a light source by varying the frequency at which each of its module vibrates. The goal of the project is to explore the dynamics and mechanics of this locomotion and implement a new kind of robot with special amorphous features. On the diagram on the right, in which direction will the robot move if the red modules vibrated twice as fast as the green modules?


I designed and protoyped the circuit for a Truss-building robot that serves to demonstrate the concept of Machine Metabolism . The robot needs to climb on a truss structure, and screw in new truss components. The circuit  can control six servo motors independently, and has on-board accelerometer and compass. The system can have pre-programmed motor instructions or receive commands wirelessly from a PC. Challenges for this controller involved accurate sensing and motor coordination. Electrical Schematic



The Cornell Ranger is a 4-legged bipedal robot that walked a record distance of 40 miles without stopping. Its walking algorithm takes advantage of dynamics and therefore consumes very low power. In the team, led by Andy Ruina . I was involved in the programming and testing of various walk algorithms. I developed a H-bridge motor driver circuit. I also developed a data capture and analysis software that allows the syncronization of sensor data plots from the robot and video footage of its gait.


Cornell Ranger at Relay for Life


We made a dancing marionette as final project for the ECE476, the Microcontroller class at Cornell University. The project involved filtering music to detect particular bass or voice signals and make a marionette dance to the music.

WMV Movie (5MB)

Design and Realization of an Overbed Table

This is the design project for Cambridge Higher School Certificate Examinatons for the Design and Technology subject. An overview of the design portfolio is available here.