Designing And Implementing Quadruped Robot

1st Tri-Tin Nguyen 2nd Duc-Anh-Khoa Tran 3rd Ngoc-Ha-My Nguyen

Control Engineering and Automation, Department of Mechatronics, Faculty Computer Engineering, Faculty of
Faculty of Electronic and Electrical of Mechanical Engineering Computer Science and Engineering
Engineering Ho Chi Minh City University of Ho Chi Minh City University of
Ho Chi Minh City University of Technology Technology
Technology Ho Chi Minh City, Viet Nam Ho Chi Minh City, Viet Nam
Ho Chi Minh City, Viet Nam khoa.tranducanh@hcmut.edu.vn my.nguyen2004@hcmut.edu.vn
tin.nguyen2004@hcmut.edu.vn

4th Minh-Duc Nguyen 5th Huu-Anh Le 6th Ngoc-Huy Tran

Control Engineering and Automation Control Engineering and Automation Department of Automation, Faculty of
Faculty of Electronic and Electrical Faculty of Electronic and Electrical Electrical & Electronics Engineering
Engineering Engineering Ho Chi Minh City University of
Ho Chi Minh City University of Ho Chi Minh City University of Technology
Technology Technology Ho Chi Minh City, Vietnam
Ho Chi Minh City, Viet Nam tnhuy@hcmut.edu.vn
Ho Chi Minh City, Viet Nam
anh.lehastar@hcmut.edu.vn
duc.nguyenminhk4nd@hcmut.edu.vn

Abstract— This research carried out a series of open-source exploring enclosed environments. Their animal-like limb
quadruped robot-based designs, simulations and flexibility makes them a better choice than drones, which are
implementations by using the physical-like mechanism of a more suited to open spaces and harder to control in confined
bionic quadruped robot dog. Through an investigation of the areas. Additionally, quadruped robots excel in balance, load-
walking mechanisms of quadrupeds, a bionic structure is bearing capacity, and cost-effectiveness. A comparison of
proposed that is capable of omnidirectional movements and these benefits is shown in Table I.
smooth motions. Furthermore, the kinematic and inverse
kinematic solutions based on the DH method are explored to TABLE I. COMPARE TYPES OF ROBOTS
lay the foundation for the gait algorithm. Afterward, a classical
compound pendulum equation is applied as the foot-end Wheel Quadrupe
trajectory and inverse kinematic solutions are combined to Technical Criteria Drone
Robot d robot
complete the gait planning. A statically stable walking robot Maneuverability Low Normal High
capable of forward movement is designed, as well as a PID Transverse ability Low High High
control system. To easily control the legs with sufficient Controllability Easy Easy Normal
accuracy servo motors are used. To achieve this the center of
Restric Freely in
mass needs to be approximated, which is done through force Terrain Land Diverse
t open space
sensitive resistors in its feet.
Efficiency Normal High High
Keywords— Quadruped robot, D-H parameters, forward Stability High Low Low
kinematic, inverse kinematic, MATLAB, kinematic program, Cost effective Low High High
simulation Navigation over
Low Normal High
obstacles
I. INTRODUCTION Payload Capacity High High Low
Adaptability to
There are numerous reasons to use a robotic dog, with Low Low High
Human Environments
common applications in exploration, research, rescue
missions, and even military and defense operations. In
addition to quadruped robots, other technologies such as Ultimately, the choice of technology depends on the
drones and wheeled robots can also fulfill tasks in these specific situation and intended use, but quadruped robots are
areas. However, what makes quadruped robots stand out is an exceptional option for applications requiring versatility in
their ability to walk on legs, similar to animals. different environments.
The advantages of legged locomotion depend on factors In May 2023, at the International Science and
such as posture, the number of legs, and their function. While Technology Fair (ISEF), two students from Le Hong Phong
wheeled and tracked robots are efficient on flat terrain, they High School for the Gifted in HCMC won a special award
struggle in complex, uneven, and hazardous environments. for their propeller rescue robot. This quadruped robot was
Legged robots, on the other hand, are better equipped to equipped with uniquely designed legs based on propellers,
navigate a variety of terrains, much like humans and animals. replacing traditional round legs to enhance stability on soft,
Animals use their legs to move quickly and reliably across wet, and unstable terrain. This innovative research marks a
different landscapes, showcasing excellent mobility and significant step forward in quadruped robot technology from
agility. Similarly, quadruped robots are designed for speed two young Vietnamese students, demonstrating its feasibility
and efficiency, adapting to environmental conditions. Among and practical importance. However, further improvements
legged robots, quadrupeds offer the best combination of and development are needed to fully meet real-world
mobility and stability. Their four legs make them easier to demands.
control, design, and maintain compared to robots with two or
six legs.[6] II. MECHANICAL DESIGN
Quadruped robots also have an advantage when it comes Robot dogs have many leg structures. After consulting many
to integrating cameras and area-scanning technologies for models, this is the most suitable model.
A. Choosing model EXTERNAL DIMENSION
380x250x250 (mm)
Leg structure comprising 12 servo motors, with 3 servo ( L ×W × H )
motors allocated for each leg, as illustrated above. WEIGHT 3 (kg)
The distinctive feature of this is that the joint connection TOP SPEED 30 (cm/s)
between the upper and lower legs is just a connecting rod PAYLOAD CAPACITY 500 (g)
attached to the servo motor of the upper leg. However, there MATERIAL PLASTIC
is an additional control mechanism attached to the servo
motor controlling the lower leg.[7]
III. KINEMATIC ANALYSIS
The objective of the robot’s forward kinematics problem
is to find the positional representation of the end-effects, the
most widely used DH coordinate transformation method is
explored to solve this problem.
The quadruped robot is a robotic system that consists of a
rigid body and four legs with three degrees of freedom (each
leg has the same structure). The links of legs are connected to
each other by rotary joints.
Fig. 1. Model of Quadruped Robot. a) Overall design. b) Leg structure
[13]

Advantages:
 Firstly, the robot is small, compact, lightweight, easy
to carry, and has lower manufacturing costs.
 Secondly, the leg structures of the robot are easier to
fabricate compared to Spot and Cyberdog.
 Finally, does not require servo motors with high
torque (only servo motors with a torque of 35 kg.cm
are needed).
Disadvantages:
 Firstly, the robot's movement may not be as agile, it
moves slowly, and may struggle with more
challenging maneuvers.
 Lastly, the robot cannot carry heavy loads (only
capable of carrying less than 0.5 kg). Fig. 3. The coordinate system of leg joint
B. Rationale
Depending on the legs coordinates, the robot body can
Considering the cost, the simplicity of the leg structure, have different configurations. For this reason, the kinematic
and the fact that Dingo only requires moderately powered equation between the rotational movements (φ, ψ, ω) where
servo motors (with around 35 kg.cm torque being enough for φ is yaw, ψ is pitch, ω is roll around the center of body’s
movement), it proves to be a fitting option. Its coordinate system ( x m , y m , z m) and the coordinate system of
straightforward design also simplifies programming and
each endpoint of leg (x4, y4, z4) is investigated. Initially, to
control. Moreover, as Dingo is open-source, it offers great
determine the position and orientation of the robot center of
convenience for the research and development team to study
body in the workspace, the transformation matrix is obtained
and further improve the robot. [13]
in (5) using the rotation matrices ((1), (2), (3), (4)).

[
C. Technical specifications
¿ 1
R x= ¿ 0 ¿ 0
¿ 0 ¿ cos(¿ ω) ¿∧ sin(¿ ω )¿∧ 0
¿ 0

[
¿ 0
Ry = ¿ cos(¿ φ)¿∧ 0 ¿ 1 ¿ sin (¿ φ)¿∧
¿−sin(¿ φ)¿∧ 0 ¿ 0 ¿ cos (¿ φ)¿∧
¿ 0

Fig. 2. Quadruped Robot Drawing

TABLE II. KEY SPECIFICATION ROBOTS

[
R z= ¿ cos(¿ ψ )¿∧sin (¿ ψ)¿∧ 0 ¿−sin (¿ ψ) ¿∧cos
¿ 0 ¿ 0

R xyz =R x R y R z (4)
 [ ]
Forward kinematic matrix
¿ 0 ¿ xm

[ ]
¿1 ¿0
¿0 ¿1 ¿ 0 ¿ ym ¿ m11 ¿ m12 ¿ m13 ¿ m14
T M = R xyz (5)
¿0 ¿0 ¿1 ¿ z m 0 0 1 2 3 ¿ m21 ¿ m22 ¿ m23 ¿ m24
❑ T 4 =❑T 1 ❑T 2 ❑T 3 ❑T 4 = (11)
¿0 ¿0 ¿0 ¿1 ¿ m31 ¿ m32 ¿ m33 ¿ m34
The kinematic equation the center of body’s coordinate
¿ m41 ¿ m42 ¿ m43 ¿ m44
system ( x m , y m , z m) and The Main Coordinate System of
TABLE IV. ELEMENTS OF FORWARD KINEMATIC MATRIX
each leg (x0, y0, z0) is given by the transformation matrices
given in (6), (7), (8), (9). The positions and orientations of m11=sin(¿ θ1 )cos (¿ θ2 +θ 3)¿ ¿
each leg can be calculated according to the position and
orientation of the robot's body. m12=−sin(¿θ 1)cos (¿ θ2 +θ3 )¿ ¿

[ ]
m13=cos (¿ θ1 )¿
¿0 ¿−L/2
m14=−L1 cos( ¿ θ1)+ L2 sin(¿ θ1 )cos (¿ θ2 )¿ ¿¿ ¿
T rear h t = T M ¿ cos (¿ π /2)¿∧ 0 ¿ 1 ¿ sin(¿ π /2)¿∧ 0 ¿ 0
−L sin(¿ θ1 )sin (¿(6)
θ2 )sin(¿ θ3)¿ ¿ ¿
rig
¿−sin( ¿ π /2) ¿∧ 0 ¿ 0 ¿ cos(¿ π /2)¿∧ 03 ¿ W /2
¿0 m21=−cos
¿ 1(¿ θ1 )cos (¿ θ2 +θ3 )¿ ¿

[ ]
¿0 m22¿=cos
L/2 (¿ θ1 )sin(¿ θ2+ θ3)¿ ¿
T front h t=T M ¿ cos (¿ π /2)¿∧ 0 ¿ 1 ¿ sin (¿ π /2) ¿∧ 0 ¿ m023=−sin (7)
(¿ θ1)¿
rig
¿−sin (¿ π /2) ¿∧ 0 ¿ 0 ¿ cos (¿ π /2)¿∧m24=−L W /2θ1 )−L2 cos(¿θ 1)cos (¿ θ2)¿ ¿ ¿
0 1¿sin(¿
¿0 −L¿3 cos(¿θ
1 1)cos( ¿θ 2+ θ3)¿ ¿
T m31=sin(¿ θ 2+θ 3)¿

[ ]
¿0 ¿ L/2
front =T ¿
¿cos (¿−π / 2)¿∧
M
0 ¿1 ¿sin(¿− π /2)¿∧ 0 ¿ 0 (8)¿ m32=cos (¿ θ2 +θ3 )¿
¿−sin(¿−π / 2)¿∧ 0 ¿0 ¿cos (¿−π / 2)¿∧ 0 ¿−W /2
¿0 ¿ 1 m33=0
T m34=L2 sin(¿ θ2 )+ L3 sin (¿ θ2 +θ3 )¿ ¿
[ ]
¿0 ¿−L /2
rear =T
¿
¿ cos(¿−π /2)¿∧
M
¿−sin(¿−π /2)¿∧
0 ¿ 1 ¿sin (¿−π / 2)¿∧ 0
0 ¿ 0 ¿ cos(¿−π /2)¿∧
¿ 0 (9)¿
0 ¿−W / 2
m41=0
¿0 ¿ 1 m42=0
A. Forward Kinematic m43=0
In the DH method, each joint can be described by four m44=1
joint parameters. When the joint coordinate system {i} is
shown figure, each joint’s parameter is found by the
following definition: B. Inverse Kinematic
a i = the distance from Zi to Zi +1along the X i axis Equations expressing the angular position of joints
(θ1 , θ2 ,θ 3)
α i = the angle of rotation around the X i axis from Zi to
θ1=−a tan (¿− y 4 , x 4 )−a tan 2( √ x 4 + y 4 −L1 ,−L1)
2 2 2
Zi +1
d i = the distance along the Zi axis from X i to X i +1 θ3 =−a tan 2(− √ 1−D2 , D)
(15)
θi = the angle of rotation around the Zi axis from X i +1 IV. CONTROL SYSTEM
to X i The control system is composed of three main sections:
Therefore, using the right front leg of the quadruped the power supply, the section housing the MCU components,
robot as an example, the parameters of each joint are derived and the motor connection. The circuit operates on a 24V DC
as shown in below table. power source, with control implemented via the I2C protocol
(master/slave), where the Raspberry Pi acts as the master.
TABLE III. THE PARAMETERS OF DENAVIT – HARTENBERG First, the power supply is split into two parts: a 6V supply
for the MG996 RC servo motor, which is regulated using a
Link α i−1 a i−1 di θi pre-built voltage regulator circuit mounted on the robot, and
a 4V supply for the RAP microcontroller using an LM2976
0-1 0 L1 0 θ1 chip, as depicted in Fig. 4. The power for the servo motor is
connected through a DC-DC converter. To prevent incorrect
1-2 −π /2 0 0 −π /2 power source connections, a diode is placed at the input, and
a capacitor is connected in parallel with the source to reduce
2-3 0 L2 0 θ2 interference caused by design flaws like vias.

3-4 0 L3 0 θ3 The second part involves connecting the components.

This project uses one Raspberry Pi microprocessor and one
i−1 STM32F407 microcontrollers. The Raspberry Pi is
Transformation matrix ❑ Ti
connected via an expansion board, while the microcontrollers
¿ are linked using the I2C protocol. A logic circuit is used to
ensure sufficient power is supplied for the STM32F407 to
function properly, as shown in Fig. 5. [11]

Fig. 4. The schematic shown using LM2976 to supply Raspberry PI 4

Fig. 6. The schematic shown the connect to Raspberry PI 4 to develop new

functions in the future

Fig. 5. The schematic shown the I2C protocol between Stmf407vgt6 and
Raspberry PI 4

The third section involves connecting the components.

Besides linking the Raspberry Pi to the STM32F4 through
the PCB, it can also be connected to additional headers for
future expansion, allowing more sensors to be added later.
Additionally, there is a dedicated circuit for connecting the
servo motors, with a total of 12 RC servos, where each
microcontroller controls 3 servos.[12]
By combining 12 servos with additional sensors, Fig. 7. The schematic shown the power diagram
microcontrollers, and microprocessors, the robot's total
power consumption reaches approximately 150W. The There are numerous ways to deal with this problem like
project utilizes a 24V/8000mAh LiPo battery, enabling the using capacitor to erase the frequency from the external
robot to operate for around 20 to 25 minutes. effect. In this project, GY-521 6 DOF IMU sensor is the
choice that we used to detect the magnitude from the
When designing the PCB for this project, one crucial environment and the magnitude from the PCB when we
factor to consider is the potential magnitude of noise design since it has MS5611.
affecting the circuit. To ensure adequate power supply
throughout the system, the circuit’s trace width must be as
wide as possible. Ignoring this could result in noise and
signal magnitude issues, not only disrupting the robot's
hardware but also hindering algorithm performance. For
instance, this project uses a PID controller to calculate,
detect, and minimize errors, but excessive noise can
negatively impact the D-component of the PID, causing the
robot to move poorly compared to simulations.

Fig. 8. Physical GY-521 6 DOF IMU

It is a complement filter which has a high frequency noise

and the low noise frequency and thanks to this the result of
the signal has the high probability that we want to get or we
can erase many noise effects including magnitude to control
system smoothly.
 V. ALGORITHM ground, balance will be maintained. This concept is
illustrated in the figure below.

Fig. 10. The block diagram of the algorithm

B. Dynamic Balance
Maintaining dynamic balance while adapting the gait
pattern in real-time is achieved through:
Center of Mass (CoM) Adjustment: Real-time
adjustments to the robot's body posture and leg positions are
made to keep the CoM within the support polygon formed by
the stance legs, enhancing stability.
Feedback Control Loop: Sensor data (e.g., IMU for tilt
and acceleration) inform a PID (Proportional, Integral,
Derivative) control loop to make continuous adjustments to
the leg positions and body orientation, compensating for
external disturbances.
Gait Adaptation Algorithm: Depending on sensor
feedback and predefined terrain characteristics, the gait
Fig. 9. Flowchart of algorithm adaptation algorithm adjusts the swing height, stride distance,
and overlap time between legs to optimize for stability and
In terms of controls, the core objective is to achieve energy efficiency.
stable, agile and adaptive movement across a variety of
terrains and tasks. This is accomplished through a
combination of kinematic models, dynamic feedback. This
section details the process and algorithms employed in
realizing such control, focusing on leg trajectory and
dynamic balance.
A. Leg Trajectory Planning
The process begins with leg trajectory planning, which is
crucial for stable locomotion. Given the robot's leg
configuration and desired movement speed and direction, the
following steps are employed:
Inverse Kinematics (IK) Calculation: For each leg, the Fig. 11. The block diagram of the algorithm
desired end-point position is translated into joint angles using
inverse kinematics, considering the leg's geometric
constraints.
Gait Sequencing: Based on the robot's speed and the
terrain, a gait (e.g., walk, trot,…) is selected. Each gait
defines a sequence of leg movements (swing and stance
phases) that are optimized for efficiency and stability.
Trajectory Smoothing: To ensure smooth transitions
between gaits and movements, trajectory smoothing
algorithms are applied, minimizing jerk and avoiding abrupt
changes in acceleration. Fig. 12. Showcasing pitch forwards
Quadrupedal movement refers to the locomotion where
the body uses four legs to bear weight and achieve mobility.
During movement, one of the main challenges is maintaining
balance when a leg leaves the ground and no longer supports
the body. One approach to address this is to position the
center of mass precisely at the intersection of all the legs. As
long as the center of mass remains within an imaginary
polygon formed by the points where the feet touch the
 Objects in space are characterized by three states: Roll,
Pitch, and Yaw. Using these three states, we can determine
both the desired positions of the Dingo's body as it moves in
the real world and the unwanted positions. The difference
between the undesired and desired positions is referred to as
the error interval. These error intervals are represented by the
servo’s error angles, which will be used to develop a servo
tuning algorithm to correct these angles. One of the simplest
and most effective methods for correcting errors is the
Proportional-Integral-Derivative (PID) controller. As the
Fig. 13. Showcasing pitch backwards name implies, PID incorporates three approaches for error
correction: proportional, integral, and derivative.
C. Motion Control
Correction=K 1∗Error+ K 2∗Slope+ K 3∗Area
At the start of movement, it is necessary to determine the
landing positions for the swing legs and the final posture of K 2∗ΔE
¿ K 1∗Error + + K 3∗¿ (16)
the torso. By solving the inverse kinematics, a gait pattern is Δt
created with a parabolic trajectory for each swinging leg. The
foot and torso trajectories are then calculated at each time
step, allowing for the computation of the target joint angles
for all actuators. Regarding balance during quadruped
motion, filtered IMU data is used to assist in push recovery.
The diagram below illustrates the process used to generate
the trotting gait of the quadruped.
VI. GY-521 6DOF IMU MPU6050
Fig. 15. Data flow of Dingo's self-balancing
We use the GY-521 sensor installed on the body of the
Dingo Quadruped Robot to solve the balance problem in the PID is also based on the K1, K2 and K3 coefficients
robot's movement. Some problems encountered are that the adjusted by the user to achieve the best balancing effect. If
robot will not be able to automatically balance when we these coefficients are adjusted incorrectly, error correction in
create a moving algorithm. Using Inverse Kinematic to the servo rotation angle will most likely lead to over shoot
determine the angle of incidence of the legs when the robot and cause the servo to spin out of control.
walks is a difficult task, but it alone will not be enough for
the robot to automatically balance when walking. That's why The picture above shows how the servo corrects errors
building a balanced module is extremely important. This when they Roll and Pitch are not at the desired position. The
balancing module will provide information about the desired coefficients K1, K2 and K3 have been fine-tuned so that the
position of Dingo as it moves – the body should be as servo corrects errors as quickly and smoothly as possible,
parallel to the ground as possible, and then compare it with avoiding strong vibrations when inertia corrects errors too
the robot's current position in space to calculate the "error" quickly. This error correction angle information is then
range, this error range will be converted into information received by the Inverse Kinematic process and produces final
about the angles that need to be adjusted to achieve balance tweaks to ensure Dingo's balance and gait. Below is Dingo's
in the motor legs. The remaining work is the Inverse basic data follow in self-balancing.
Kinematic process, this process, along with information
previously provided from the balance module, will help the VII. CONCLUSION
robot walk and automatically balance itself. GY-521 is a A. Result achievement
6DOF (Degree of Freedom) IMU (Inertial Measurement
Unit) sensor module using MPU6050 chip. The MPU6050 Through this research project, the group has achieved the
chip is an integrated solution with gyroscope and following results:
accelerometer, providing information about the movement  Firstly, Stabilize the signal from the IMU sensor and
and direction of an object in space. From this application we send it to the Controller.
create a 3D model of an object in space expressed through
Vpython.  Finally, the mechanical frame has been built but is
not highly applicable, nor has the space been
optimized to reduce weight, save costs and be easy to
control. The leg and body designs are calibrated for
flexible movement.
B. Problem
 Firstly, the body frame and legs must be solid and
guaranteed affecting the control algorithms. The
heaviest mass of the mechanism is concentrated on
the axis of rotation of the coxa bone.
 Finally, Algorithms and sensors does not perform
well.
Fig. 14. Roll, Pitch, and Yaw in Visual Python
ACKNOWLEDGMENT
 This research is funded by Ho Chi Minh city University https://www.wevolver.com/article/jueying-x20-robot-dog-hazard-
of Technology (HCMUT), VNU-HCM under grant of detection-rescue-solution
Technology SVKSTN-2024-ĐĐT-13. We acknowledge [6] 5 Real-World Applications of Quadruped Robots published by John
George | December 7, 2021, excerpted from:
Innovation FabLab, Ho Chi Minh University of Technology https://formant.io/blog/quadruped-robots/
(HCMUT), VNU-HCM for supporting this study. [7] Shi, Yunde, Shilin Li, Mingqiu Guo, Yuan Yang, Dan Xia, and Xiang
Luo. 2021. "Structural Design, Simulation and Experiment of
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