Structure and software architecture design of an extremely low-cost quadruped robot for education

Abstract

Abstract Many teachers and students face with a serious problem of costs when they build quadruped robot. This paper illustrates a complete process of creating quadruped robot with consideration of extremely low-cost limitation. The creating procedure involves 3 major issues: 1. Driving force transmission structures. 2. Applying finite element analysis (FEA) method of reducing the cost of 3D printing components. 3. To utilize proper electronic chip, sensors and propose a corresponding software system architecture. In conclude, this paper offers a feasible common framework of creating low-cost robot, the hardware architecture and software architecture are suitable for beginning students to learn about robotics.