Mechanical Design of an Agile Quadruped Robot

Agile quadrupedal robotic platforms have become a commercial reality and are widespread in research laboratories. Nevertheless, the freedom to experiment with high performance on these commercial devices is impaired by restrictions to access and customise the low-level layers of their hardware and software. In this work, we present the design of Leon, an agile quadruped robot based on commercial components which we minimally customise. Following this approach, we benefit from the availability of partially integrated components on the market, but commercial restrictions do not impair the performance of the robot. The robot cells are designed in a manner that only a few parts are required and can be fabricated without complex machining. This paper details the design and the strength analysis of the critical parts.