低成本无线四足机器人，可自组装、抗摔、续航超1小时
Design of Q8bot: A Miniature, Low-Cost, Dynamic Quadruped Built with Zero Wires
- 无电线设计，结构简洁，全靠开源零件和3D打印实现
- 单次充电续航超1小时，1米跌落仅需简单修复，行走速度达5.4体长/秒
- 适合机器人教学与研究，一人一小时即可完成组装
本文介绍Q8bot，一款面向机器人研究与教育的开源微型四足机器人。其创新的零电线设计使其具备优异的外形、鲁棒性、可复现性与高性能。该机器人尺寸重量接近现代智能手机，单次充电可连续行走超过一小时，能承受1米高度跌落，经简单维修即可恢复使用。其300美元物料成本包含少量市售组件、线上可购定制电子元件，以及可用爱好者级3D打印机制造的结构件。初步用户组装研究表明，单人平均组装时间低于一小时。在启发式开环控制下，Q8bot实现5.4体长/秒的稳定步行速度与5弧度/秒的转向速度，并可完成跳跃、攀爬中等坡度等动态动作。
原文摘要 · Abstract (English)
This paper introduces Q8bot, an open-source, miniature quadruped designed for robotics research and education. We present the robot's novel zero-wire design methodology, which leads to its superior form factor, robustness, replicability, and high performance. With a size and weight similar to a modern smartphone, this standalone robot can walk for over an hour on a single battery charge and survive meter-high drops with simple repairs. Its 300-dollar bill of materials includes minimal off-the-shelf components, readily available custom electronics from online vendors, and structural parts that can be manufactured on hobbyist 3D printers. A preliminary user assembly study confirms that Q8bot can be easily replicated, with an average assembly time of under one hour by a single person. With heuristic open-loop control, Q8bot achieves a stable walking speed of 5.4 body lengths per second and a turning speed of 5 radians per second, along with other dynamic movements such as jumping and climbing moderate slopes.
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