Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs

Area of Science:

• Robotics
• Bio-inspired Engineering
• Locomotion Control

Background:

• Legged robot research faces hardware and control design challenges.
• Animal locomotion principles offer insights into robust robot design.
• Understanding biomechanics is crucial for advanced legged robot capabilities.

Purpose of the Study:

• Introduce the Oncilla robot, a novel bio-inspired quadruped.
• Investigate model-free and feedback-controlled locomotion.
• Provide an open-source platform for legged robot research.

Main Methods:

• Developed a 5.1 kg, large-cat-sized quadruped robot (Oncilla).
• Incorporated spring-loaded pantographic leg design for posture compensation.
• Conducted open-loop experiments and explored sensor integration for feedback control.

Main Results:

• Achieved agile and versatile locomotion, even with limited sensory input.
• Demonstrated robust tracking with feedback control.
• Quantified efficient locomotion with a cost of transport of 3.2 J/(Nm) at 0.63 m/s.
• Successfully trotted on 10° inclined slopes.

Conclusions:

• The Oncilla robot showcases the potential of bio-inspired design for versatile legged locomotion.
• Open-source availability lowers the barrier for academic research in robotics.
• The robot serves as a valuable tool for studying biomechanics and control principles.