The basic design of the quadruped robot Warp1

摘要

This paper presents the basic design of a walking robot platform, in terms of its mechanics, electronics and control. The four-legged robot weighs about 60 kilograms, has three actuators in each leg and uses a distributed control system over six CAN busses. Basic strength and speed is demonstrated by experiments where the robot performs walking motions and goes down on its kness and then up again. A brief discussion of experiences from designing and implementing the platform is included.