Development of an Affordable and Modular 3D Printed Quadruped Robot

摘要

Abstract This work presents the design and development of a biologically inspired 12 degree of freedom (DoF) quadruped robot,“Squeaky,” to use as a learning platform for research and education and as a companion robot. The design of this robot is based on and derived from the behaviors and locomotion of one of the most common pets, dogs, which exhibit a unique interaction and connection with humans. The robot design is based on three main factors: minimizing production cost by using readily available components, simplifying the manufacturing process using 3D printed parts, and streamlining onboard electronics and software using simple communication and control schemes. The use of 3D printing technology makes the robot easy to manufacture, assemble, and make design modifications to if the user requires different functionality. The main controller of the robot is a Raspberry Pi 4, which receives data from a camera and an IMU to enable various levels of autonomy. Squeaky includes a default gait generator to allow trotting locomotion with various types of motion inputs from the main controller. The simplified software and multifunctional platform of Squeaky can be useful for researchers as well as developers working in the field of quadrupeds.