低成本3D打印四足机器人，兼顾敏捷与鲁棒性，适合科研使用。
QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot
- 采用无电子元件腿部设计，实现模块化可替换结构。
- 15公斤重，12自由度，每腿三关节配3D打印力矩驱动器。
- 全开源设计，适合高校和研究机构开展足式机器人研究。
QLAUN Bot（四足自适应无人导航机器人）是一款面向科研、成本低廉且完全3D打印的力矩控制四足机器人，旨在同时实现鲁棒性与敏捷性。该机器人重15公斤，具备12个自由度（每腿三个），每个关节配备完全3D打印的准直接驱动（QDD）执行器，包含无刷直流电机与低速比齿轮箱，并通过皮带传动系统显著提升关节输出扭矩。其腿部采用髋膝解耦设计，提升整体模块化水平。所有结构主要采用聚乳酸（PLA）3D打印，结合市售零件组装而成，具备宽广的关节运动范围，包括连续髋关节屈伸。脚部采用柔性热塑性聚氨酯（TPU-95A）打印，有效缓解硬冲击并应对地形不确定性。本文介绍该平台的设计理念与技术实现，为中东及北非地区高校与研究机构提供一个可扩展、可维护的足式机器人研究平台。
原文摘要 · Abstract (English)
QLAUN Bot (Quad-Legged Adaptive Unmanned Navigator Robot) is a torque-controlled quadruped robot that is research-oriented, cost-effective, and aimed at achieving simultaneous robustness and agility while being completely 3D-printed. It is a quadruped robot that is aimed at empowering robotics research at universities and research institutes in Lebanon and the MENA region. Using a novel electronics-free leg design strategy, we present a modular robot with interchangeable and easily replaceable legs. The 15 kg robot possesses 12 DoF (Degrees-of-Freedom) with three per leg, each paired with a completely 3D-printed Quasi-Direct Drive (QDD) actuator that consists of a brushless DC motor and a low-ratio gearbox transmission that is connected to a belt transmission system for significantly increasing the torque outputs at the joints. We present legs that have decoupled hip and knee actuators to improve the overall modularity of the robot. QLAUN is almost completely 3D-printed using polylactic acid (PLA) and assembled using off-the-shelf parts to create a robust, agile, and affordable robot for legged robot locomotion research. The legs possess joints with wide ranges of motion, including a continuous hip flexion-extension joint. A compliant foot, printed using TPU-95A is also implemented for alleviating hard impacts and handling terrain uncertainties. This extended abstract aims to introduce QLAUN, a novel platform for robotics research, emphasizing the design concepts and principles that underpin its development to the academic and research communities in the field of robotics.
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