Quadrupeds

List of interesting/relevant biologically inspired quadrupeds

Stickybot

HyQ, HyQ2Max

Institution: Istituto Italiano di Tecnologia (ITT) Animal Inspiration: N/A

Publications
C. Semini et al., "Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max," in IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 635-646, April 2017
Claudio Semini. 2010. HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot. PhD Thesis

Fast Facts
Actuators	Hydraulic actuators
DoF per Leg	3
Controller	Traditional PWM control
Sensing	Joint position, torque

• Use four bar mechanisms to create desired motion with linear hydraulic actuators

• Has passively compliant ankle joint

Mini-Cheetah

Institution: MIT Animal Inspiration: Big cat

Publication
B. Katz, J. D. Carlo and S. Kim, "Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control," 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 6295-6301

Fast Facts
Actuators	Geared DC motors
DoF per Leg	3
Controller	Convex Model-Predictive Control (finite state machine)
Sensing

• Can do 360 degree backflips

• Shoulder joints can flip 180 degrees to easily right the robot if it falls on its back