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A quadruped robot with 2-degree of freedom legs in a mammalian configuration.

This is my attempt at designing a quadruped robot that, despite only having two degrees of freedom per leg, would still use Inverse Kinematics for its movement. The robot is capable of walking straight forward and backwards without any leg slippage, but can only turn like a tank – by moving the legs on one side forward, while moving the ones on the other side backward. That obviously makes the legs slip on the floor.