低成本四足机器人通过链条驱动与夹层腿设计，实现敏捷运动与可靠安全。
A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
- 采用链条驱动+夹层腿结构，双电机配置降低腿部惯性。
- 实测可在平地与斜坡上完成小跑和爬行步态。
- 开源设计，成本低于8000美元，适合机器人研究入门。
本文介绍了一种链式驱动、夹层腿结构的中型四足机器人，旨在打造一个可及的研究平台。设计重点提升运动性能、执行器可靠性与安全性，并实现低成本、易制造的生产方式。通过夹层腿架构与双电机配置，有效降低腿部惯性，增强运动敏捷性；采用坚固的电缆抗拉结构、电机散热片及机械限位装置，提升系统可靠性和安全性。集成准直接驱动（QDD）执行器，结合激光切割与3D打印等低成本制造工艺，实现快速原型制作。该重25kg的机器人总成本低于8000美元，实验验证了其在平坦地形与斜坡上实现小跑与爬行步态的能力。机械设计已开源。
原文摘要 · Abstract (English)
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified, cost-effective manufacturing. Locomotion performance is improved through a sandwiched leg architecture and dual-motor configuration, reducing leg inertia for agile motion. Reliability and safety are enhanced using robust cable strain reliefs, motor heat sinks for thermal management, and mechanical limits to restrict leg motion. The design incorporates quasi-direct-drive (QDD) actuators and low-cost fabrication methods such as laser cutting and 3D printing for rapid prototyping. The $25\,\mathrm{kg}$ robot is built under \$8000, providing an affordable quadruped research platform. Experiments demonstrate trot and crawl gaits on flat terrain and slopes. We also open-source the mechanical designs. VIDEO: https://youtu.be/ygSMCPcFnP8?feature=shared CADs: https://github.com/singhaman1750/stoch3-design.git
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