Abstract
In this paper, we present a new open source dynamic quadruped robot, PADWQ (pronounced pa-dook), which features 12 torque controlled quasi direct drive joints with high control bandwidth, as well as onboard depth sensor and GPU-equipped computer that allows for a highly dynamic locomotion over uncertain terrains. In contrast to other dynamic quadruped robots based on custom actuator and machined metal structural parts, the PADWQ is entirely built from off the shelf components and standard 3D printed plastic structural parts, which allows for a rapid distribution and duplication without the need for advanced machining process. To make sure that the plastic structural parts can withstand the stress of dynamic locomotion, we performed finite element analysis (FEA) on leg structural parts as well as a continuous walking test using the physical robot, both of which the robot has passed successfully. We hope this work to help a wide range of researchers and engineers that need an affordable, highly capable and easily customizable quadruped robot.
Highlights
Introduction of the Big Dog quadruped [1] has proved that a quadruped robot with a true rough terrain traversability is possible, but the high power density required for the robot could be only realized by hydraulic actuators powered by a two-stroke gasoline engine, which are not preferable for smaller robots and indoor applications
We present an open-source dynamic quadruped robot platform that is entirely built from commercial, off-the-shelf components and standard 3D printed plastic structural parts, to ensure the robot can be duplicated and distributed without relying on advanced machining processes
We present an open-source 12.7 kg quadruped with torque controlled quasi-direct drive joints
Summary
A more direct method, called the quasi-direct drive (QDD) [5], uses a high-torque motor with a large stator radius, paired with gear reducer with relative low gear ratio, typically planetary gear or a multi bar linkage [6] without an elastic component Such a system is highly backdrivable due to the low gear ratio, and has a high torque control bandwidth that can be used to replicate a user-designed nonlinear stiffness and damping profiles, which is beyond the capability of SEAs. QDD has been successfully used for several medium sized quadrupeds such as MIT Cheetah series [7] and ALPHRED [8], showing excellent maneuverability comparable to hydraulic powered quadrupeds, and terrain-blind walking over uneven terrain and even stairs using proprioceptive feedback alone. We conclude with a discussion of potential future directions arising from this work
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