Design of a Low-Cost Quadruped Robot for Education

This paper introduces the design and validation of a low-cost quadruped robot named “CommaPi”, developed specifically for educational use. It significantly reduces expense through optimized mechanical design and simplified control strategies. This cost reduction enhances accessibility for educational institutions in developing regions. We provide a comprehensive analysis of the robot’s kinematic and dynamic modeling. Both forward and inverse kinematics are derived to facilitate accurate foot-tip trajectory planning. To generate smooth and stable motion, a trot gait pattern is implemented along with an analytical cycloidal trajectory generation method based on sinusoidal interpolation. This approach effectively lowers computational demand while maintaining adequate leg lift height and ensuring soft landings. Simulations conducted in MATLAB verify the kinematic model and demonstrate the efficacy of the planned trajectories, revealing smooth motion profiles and expected displacement trends.