Abstract
This work presents a novel versatile open-source Quadruped Robot (Q-Robot) developed with affordable electronic devices, with structural parts printed in PLA from 3D printers, integrating ROS and Wi-Fi connection. The project aims to present a model with significantly reduced cost, using only standard components and straightforward fabrication, aiming its use for educational purposes. The Q-Robot is evaluated in two navigation modes, manual and autonomous, introducing obstacle avoidance through a Fuzzy system. The complete project, including a virtual version developed in a virtual 3D simulation environment, is freely available via Github.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
References
Biswal, P., Mohanty, P.K.: Development of quadruped walking robots: a review. Ain Shams Eng. J. 12(2), 2017–2031 (2021)
Wang, Y., Ramezani, M., Fallon, M.: Actively mapping industrial structures with information ain-based planning on a quadruped robot. In: International Conference on Robotics and Automation (ICRA), 31 May - 31 August 2020, Paris, France (2020)
Xin, G., Lin, H.C., Smith, J., Cebe, O., Mistry, M.: A Model-based Hierarchical Controller for Legged Systems subject to External Disturbances. In: International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, Australia (2018)
Tan, W., et al.: A hierarchical framework for quadruped locomotion based on reinforcement learning. In: International Conference on Intelligent Robots and Systems (IROS), 27 September - 1 October 2021, Prague, Czech Republic (2021)
Sombolestan, M., Chen, Y., Nguyen, Q.: Adaptive force-based control for legged robots. In: International Conference on Intelligent Robots and Systems (IROS), 27 September - 1 October 2021, Prague, Czech Republic (2021)
Shi, F., et al.: Circus ANYmal: a quadruped learning dexterous manipulation with its limbs. In: International Conference on Robotics and Automation (ICRA), 31 May- 4 June 2021, Xi’an, China (2021)
Bledt, G., Powell, M.J., Katz, B., Carlo, J.D., Wensing, P.M., Kim, S.: MIT cheetah 3: design and control of a robust, dynamic quadruped robot. In: International Conference on Intelligent Robots and Systems (IROS), 1-5 October 2018, Madrid, Spain (2018)
Carlo, J.D., Wensing, P.M., Katz, B., Bledt, G., Kim, S.: Dynamic locomotion in the MIT cheetah 3 through convex model-predictive control. In: International Conference on Intelligent Robots and Systems (IROS), 1-5 October 2018, Madrid, Spain (2018)
Saputra, A.A., Toda, Y., Takesue, N., Kubota, N.: A novel capabilities of quadruped robot moving through vertical ladder without handrail support. In: International Conference on Intelligent Robots and Systems (IROS), 4-8 November 2019, Macau, China (2019)
Kim, J., Kang, T., Song, D., Yi, S.J.: PAWDQ: a 3d printed, open source, low cost dynamic quadruped. In: 18th International Conference on Ubiquitous Robots (UR), Gangneung-si, Gangwon-do, Korea (2021)
Abrar, M.M., Islam, R.: Design and development of a biologically inspired robotic cat for research and education. In: 30th International Conference on Computer Theory and Applications (ICCTA 2020), Alexandria, Egypt (2020)
Sun, T., Xiong, X., Dai, Z., Manoonpong, P.: Small-sized reconfigurable quadruped robot with multiple sensory feedback for studying adaptive and versatile behaviors. In: Frontiers in Neurorobotics (2020)
Velasquez, R., Garzón-Castro, C.L., Acevedo, M., Orvananos-Guerrero, M.T., Ghavifekr, A.A.: Design and characterization of a miniaturebio-inspired mobile robot. In: 12th International Symposium on Advanced Topics in Eletrical Engineering. Bucharest, Romania (2021)
Bernal, M., Civera, J.: LoCoQuad: a low-cost arachnoid quadruped robot for research and education (2020)
Zhang, Y.N., An, M.Q.: Structure and software architecture design of an extremely low-cost quadruped robot for education. In: ICAIE 2021, Journal of Physics: Conference Series, vol. 1931, p. 012007 (2021)
Deok-Yeon, K.: Spot micro project. https://www.thingiverse.com/thing:3445283. Accessed 07 July 2022
Jimeno, J.M.: ROS CHAMP Package. https://github.com/chvmp/champ.git. Accessed 07 July 2022
Joventino, C.F., Pereira, J.H.M., Fabro, J.A., Lima, J., de Oliveira, A.S.: Low-cost Robot dog project - Q-Robot. https://github.com/jcarlosfernando/Robot-Dog.git. Accessed 07 July 2022
Joventino, C.F., Pereira, J.H.M., Fabro, J.A., Lima, J., de Oliveira, A.S.: Robot-Dog (Fuzzy Obstacles Avoidance). https://youtube.com/shorts/Mcdfpu2FrRI?feature=share. Accessed 07 July 2022
Joventino, C.F., Pereira, J.H.M., Fabro, J.A., Lima, J., de Oliveira, A.S.: Robot-Dog (Fuzzy Obstacles Avoidance) - II. https://youtu.be/OkicOSL8aWo. Accessed 07 July 2022
Acknowledgements
The authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Joventino, C.F., Pereira, J.H.M., Fabro, J.A., Lima, J., de Oliveira, A.S. (2023). A Versatile Open-Source Quadruped Robot Designed for Educational purposes. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_42
Download citation
DOI: https://doi.org/10.1007/978-3-031-21065-5_42
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-21064-8
Online ISBN: 978-3-031-21065-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)