Design, Development and Control of a Quadruped Robot

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This thesis shows the development of a quadruped platform inspired by existing quadrupled robot designs. A robot by the name of Mjukost was designed, built, and tested. Mjukost uses 12 Dynamixel AX-12a smart servos and can extend its legs up to 19 cm with an operating height of 16 cm. All the custom parts in Mjukost are ether 3d printable or easy to manufacture, and the total estimated cost of Mjukost is around 900$. Mjukost has a simple control system that can position its body freely in 6 DOF using an inverse kinematic model and walk on flat ground using an open-loop walking algorithm. The performance experiments show that its slow control loop causes difficulties for the robot to follow precise trajectories, but its still consistent in its motions.

This academic paper features our DYNAMIXEL AX-12A all-in-one smart actuators

All credit goes to: Scott Fredriksson from the Engineering Physics and Electrical Engineering, Master’s Level 2021 Luleå University of Technology Department of Computer Science, Electrical and Space Engineering