Design and Development of a Small Quadruped Robot for University Research The development of a small quadruped robot for university research offers an excellent platform for exploring robotics, control systems, and biomechanics. This robot is designed to be lightweight, modular, and energy-efficient, making it suitable for various research applications, including locomotion studies, machine learning, and autonomous navigation. Mechanical Design The robot features a compact, four-legged structure with 3 degrees of freedom (DoF) per leg, allowing for dynamic movements such as walking, trotting, and turning. Each leg consists of servo or brushless motors for actuation, providing precise control over joint angles. The body is constructed using lightweight materials such as carbon fiber or 3D-printed polymers to ensure agility while maintaining structural integrity. The robot’s small size (typically under 30 cm in length) makes it ideal for indoor testing and confined laboratory environments. Locomotion and Control The robot employs a hierarchical control system, combining low-level motor control with high-level gait planning. Inverse kinematics is used to calculate joint positions for stable walking, while feedback from onboard sensors (IMU, force sensors, or encoders) ensures balance and adaptability to uneven terrain. Researchers can implement different gait patterns (e.g., crawl, trot, gallop) to study energy efficiency and stability. Reinforcement learning algorithms can also be tested to optimize locomotion strategies in real time. Sensing and Autonomy To support autonomous operation, the robot integrates a variety of sensors, including an inertial measurement unit (IMU) for orientation tracking and ultrasonic or infrared sensors for obstacle detection. A small onboard computer (such as a Raspberry Pi or microcontroller) processes sensor data and executes control algorithms. This setup allows researchers to explore SLAM (Simultaneous Localization and Mapping) and path-planning techniques in dynamic environments. Research Applications This quadruped robot serves as a versatile testbed for multiple research areas: - Biologically Inspired Robotics: Mimicking animal locomotion to study efficiency and adaptability. - Machine Learning: Training neural networks for adaptive gait control and terrain navigation. - Human-Robot Interaction: Testing collaborative behaviors in shared environments. - Energy Efficiency: Evaluating power consumption and battery optimization strategies. Conclusion A small quadruped robot provides an accessible yet powerful tool for university research, enabling hands-on experimentation in robotics and AI. Its modularity allows customization for different research goals, while its compact size ensures practicality in academic settings. By integrating advanced control algorithms and sensing technologies, this platform can contribute to cutting-edge developments in legged robotics.