HTMAA course site

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About

Name ---------- Daniel Harianto
Work ---------- Web Portfolio
Media --------- @danielharianto_
AffiliationMS, Architectural Studies - SMArchSMassachusetts Institute of Technology

Content

FINAL PROJECT

Week 00AFinal Project Proposal09/09/26
Week 00BFinal Project Tracking12/15/26

WEEKLY PROJECT

Week 01Project Management, Computer-Controlled Cutting09/16/26
Week 02Embedded Programming09/23/26
Week 033D Scanning and Printing09/30/26
Week 04Electronics Design10/07/26
Week 05Electronics Production10/14/26
Week 06Computer-Controlled Machining10/21/26
Week 07Input Devices10/28/26
Week 08Output Devices11/04/26
Week 09Mechanical, Machine Design11/11/26
Week 10Wildcard Week, Molding and Casting11/18/26
Week 11Networking and Communications, Interface and Application Programming11/25/26
Week 12System Integration12/02/26
Week 13Project Development12/09/26
TOTAL PROJECTS14.00

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I explore how design and computation can make relationships between people, space, and complex systems more visible, legible, and actionable.

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Week 00B

Final Project Tracking

12/15/26
Printed modules in three configurations

TLDR

This page tracks my final project, a modular reconfigurable robot, week by week. The concept and plan are in the Final Project Proposal.

Status

Done

  • Module concept and body design (Week 00A)
  • 3D printed modules with magnetic connections (Week 03)
  • Servo control circuit tested on a breadboard (Week 04)
  • Servo board schematic and PCB layout in KiCad (Week 04)
  • Servo board milled, soldered, and tested (Week 05)
  • Module casing with a servo inside, tested rotating one half against the other (Week 05)

In Progress

  • Wireless board to control each module without a cable
  • Testing the joint under load

Next

  • Shrinking the board to fit inside one module
  • Sensing and communication between modules
  • Integrating the electronics into the module body

Log

Week 00A: Proposal

I defined the concept in the proposal: identical magnetic modules, each a rotating joint, that reconfigure into different forms.

Modules with motors inside

Week 03: First Prototype

In Week 03, I 3D printed the first modules with magnet pockets on their faces and rearranged them by hand to test the connections and configurations.

Module design

Week 04: Servo Control Board

In Week 04, I built a circuit that drives two servo motors from a XIAO ESP32-S3, tested it on a breadboard, and designed a single-sided board for it in KiCad.

Servo board layout in KiCad

Week 05: Servo Board and Articulation Test

In Week 05, I milled and soldered the servo board, then designed and printed a casing that holds a micro servo inside each module. Sending the servo a series of angles rotated one half of the module against the other, and two modules attached with magnets could bend into different configurations. Next, I will try a wireless board and test the joint under load.

Milled servo board with the XIAO ESP32-S3 Exploded 3D model of the module casing with base plates and lattice shells Printed base plates with servos mounted and lattice shells Two printed modules stacked and rotated against each other