微型四足机器人突破关节限制，可自由折叠与翻滚。
MiNI-Q: A Miniature, Wire-Free Quadruped with Unbounded, Independently Actuated Leg Joints
- 关节无机械限位，独立驱动实现自由运动。
- 最高时速0.46米/秒，能爬梯、倒走、跳远。
- 无线设计提升微型机器人可靠性，开源所有资料。
腿部关节物理限位常见于足式机器人，会限制工作空间、制约步态设计并增加硬件损坏风险。本文介绍MiNI-Q^2，一款微型、无线四足机器人，其腿部采用独立驱动、机械上无边界的2自由度关节。我们展示了其机械设计、运动学分析及实验验证。该腿结构支持往复步态与旋转运动，可折叠至最低2.5厘米高度。实验表明，MiNI-Q最高速度达0.46米/秒，具备低空爬行、爬楼梯、倒立行走、跳跃和后空翻能力。无线架构改进了此前的Q8bot设计，在微型尺度上提升了装配可靠性。所有机械与电气设计文件均开源，以支持可复现性与进一步研究。
原文摘要 · Abstract (English)
Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently actuated, mechanically unbounded 2-DOF leg joints. We present the mechanical design, kinematic analysis, and experimental validation of the proposed robot. The leg mechanism enables both oscillatory gaits and rotary locomotion while allowing the robot to fold to a minimum height of 2.5 cm. Experimentally, MiNI-Q achieves speeds up to 0.46 m/s and demonstrates low-clearance crawling, stair climbing, inverted locomotion, jumping, and backflipping. The wire-free architecture extends our previous Q8bot design, improving assembly reliability at miniature scale. All mechanical and electrical design files are released open source to support reproducibility and further research.
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