Low-Cost Quadruped Leg Module: Design and Initial Validation

TADEO CASIRAGHI; GABRIEL TORRE; ROBERTO BUNGE; IGNACIO MAS

Bariloche

Congreso; Jornadas Argentinas de Robotica 2022; 2022

CNEA - Balseiro

We present a new quadruped leg design focusedon reducing part cost, reducing manufacturing complexity, andmaximizing the use of regionally-available components. Thisstudy describes the simulations that allowed an iterative designprocess, the design itself and the initial testing results. Thesimulations represent simple leg scenarios such as running,jumping, accelerating, and standing up. With these tests, we areable to define leg requirements that shape the design process.This results in a 1kg-mass quadruped leg capable of producing12.6 Nm of torque for short bursts thanks to its brushlessmotors and its 1:9 reduction. This design is then experimentallytested to verify its characteristics. This includes testing of servomotors, brushless motors, and motor-reduction systems. Of thelatter, joint compliance, backlash, static and dynamic torque weretested. These are the first steps to develop a low-cost quadrupedrobot for autonomous locomotion research.