Design and Implementation of A Novel Quadruped Robot

Abstract

Legged robots have unparalleled advantages over the traditional four-wheel and crawler ones. Particularly, they possess higher maneuverability in complex environments and can play a more significant role in military and emergency missions. To adapt the legged robot to the above situations, the primary task is to make the robot move freely like a human or animal, but this is a complicated and expensive project. The paper is dedicated to designing a novel and cheap quadruped robot and developing a complete and adequate control system. The overall design architecture is proposed, focusing on ease of manufacture and low cost of manufacture. Specifically, the control system runs on stm32, and the movement of the quadruped robot is controlled by a direct current motor that can be driven towards different directions by manipulating the terminal control device. Among the quadruped robots of similar performances, the quadruped robot BlackDog is cheaper and more stable in walking, and its structure is simple and easy to be implemented.