Proposal for a quadruped robot with Three Degrees of Freedom (3DOF) in each leg

Abstract

This article addresses the development of a quadruped robot with three degrees of freedom on each leg, controlled remotely through a wireless IoT application. The work involves the design of hardware and software components, adhering to the agile Kanban methodology. The robot's mechanical structure is designed to adapt to different types of terrain, while the control software uses inverse kinematics calculations to allow locomotion. The construction of this robot addresses the challenges of mobile robotics, particularly in environments with uneven ground, where traditional wheeled robots underperform.