Design and development of a small-sized service quadruped robot

摘要

Abstract Based on the core demands for spatial adaptability, human-robot interaction functionality, and safety in service scenarios, a compact quadruped robot was developed. This robot adopts an integrated and modular mechanical structure, which is more lightweight and expandable. Through the analysis of leg kinematics theory, the feasibility of the leg structure and the designability of motion trajectories were established. Gait design was implemented, and the motion control system was optimized through simulation-assisted development. Furthermore, to accommodate diverse application environments, multiple human-robot interaction modes were designed by integrating machine vision and IoT technology. Finally, prototype tests demonstrated that the quadruped robot could perform squatting, standing, stepping, forward, backward, turning, and waving motions, which can be controlled through an upper computer, remote control, or server. In summary, this work provides a foundational framework for the engineering development of small-sized quadruped robots, expecting to be applied in service domains such as home companionship, community inspection, and scientific education.