The Platform
Dogbo is a miniature quadruped robot designed as a test platform for locomotion research. At just a few centimeters long, it provides a compact environment for experimenting with complex movement algorithms.
Technical Specifications
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12 Degrees of Freedom - 3 joints per leg for full articulation
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Compact design - small enough to test on a desk
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Rapid prototyping - 3D printed components for quick iterations
Research Applications
The platform serves as a testbed for:
Balancing Algorithms
Testing how robots maintain stability under various conditions:
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Static balance on uneven surfaces
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Dynamic balance during movement
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Recovery from perturbations
Gait Generation
Experimenting with different walking patterns:
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Trot, walk, and bound gaits
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Transition between gaits
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Adaptive locomotion based on terrain
Why Small Scale?
Working with miniature robots has several advantages:
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Faster iteration - cheaper and quicker to print new parts
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Safer testing - less potential for damage during failures
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Algorithm focus - concentrate on software without hardware complexity
Connection to Larger Work
While Dogbo is a small personal project, it connects to broader themes in my research: understanding how to control complex mechanical systems and translate intention into motion - principles that apply equally to walking robots and prosthetic hands.