Quadruped robot BAI

A low cost 3d-printed quadruped design.

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Building a walking robot has always been an interesting topic. The target of this project is to design a high performance 12dof quadruped and cut the overall build cost by using mostly 3d-printed parts.


For a dynamic legged system, Actuators with high power density are vital. Many examples has shown that brushless motor with low ratio reducer can be a good solution to mid-size legged systems, Also known as proprioceptive actuator. In a low reduction ratio reducer, the friction and backlash is small enough to be ignored. So the output torque can be controlled via current loop, which shares a good liner relationship.

This project uses 9030 motor with 350kv. XL timing belt is used in the reducer. The reducer comes with a 9:1 reduction ratio made up of two stage 3:1 timing belts. Project uses timing belt reducer rather than planetary reducer mainly because It's easier to print and design. Also, It has overall smaller backlash. However, The timing belt takes more space and the reducer won't be that compact. 

The demo of a actuator driven by Odrive is linked below. 


The demo of a 2dof leg, with v-rep simulation.

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Antonio EIRAS wrote 01/06/2021 at 19:05 point

Great Job! A really interesting balance between cost / efficiency.
Do you plan to show more? to share?

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Shuang Peng wrote 01/19/2021 at 12:42 point

Thanks, It's still an ongoing project. I'll keep it update.

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Shakezzz wrote 12/20/2020 at 13:24 point

Great project! Which software did you use to design your robot?

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Shuang Peng wrote 01/05/2021 at 15:14 point

Thanks, I'm using Autodesk Inventor.

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