Dynabot: Modular Quadruped Platform With Dynamixel

Abstract

Robotics research has achieved rapid development in the field of quadruped robots. These robots can traverse uneven terrains better than similar sized wheeled robots. However, challenges related to their affordability, complex mechanical design, and sensor placement remain. Regarding affordability, existing quadruped robot platforms utilize custom-made actuators, increasing their cost and exclusivity. Further, their complex mechanical and electrical systems pose challenges in their construction and maintenance. Many existing platforms also lack sufficient space for sensor placement, this adversely affects their performance when navigating uneven terrains that require multiple sensors. To overcome these challenges, this study proposes Dynabot, a small-sized quadruped platform that uses Dynamixel servos and frames on each foot. The main body of the Dynabot is composed of aluminum frames and acrylics. This design aims to improve cost efficiency, ease the assembling and disassembling process, and provide flexibility for sensor placement. To validate the Dynabot’s performance, its abilities to utilize an inverse kinematic planner and a gait planner in its locomotion, and to traverse stairs without falling are demonstrated via both simulations and the real-world experiments. The Unified robot description format of the Dynabot can be accessed at https://url.kr/aq6obp.