Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot

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 onboard depth sensor and GPU-equipped computer that allows for highly locomotion over uncertain terrains. contrast to other robots based on custom actuator machined metal structural parts, the is entirely built from off shelf components standard 3D printed plastic rapid distribution duplication without need advanced machining process. To make sure parts can withstand stress of locomotion, performed finite element analysis (FEA) leg continuous walking test using physical both robot has passed successfully. We hope work help wide range researchers engineers an affordable, capable easily customizable robot.