In the modern era of rapid development of intelligent robotic systems, quadrupedal robots occupy a special place due to their high maneuverability and ability to adapt to complex, dangerous conditions (in particular, in the military and search and rescue fields). The relevance of the research is determined by a dual need: to create affordable prototypes for training and to develop a universal hardware and software platform that can be quickly and inexpensively modified for specialized tasks (e.g., integration of a thermal imager, GPS, more powerful engines). Existing industrial analogues, such as Spot, are too expensive and have a closed architecture, which makes it impossible to use them widely as a basis for R&D prototyping in educational and research institutions. That is why the development of an affordable and modifiable prototype is of great strategic and practical importance.
Research objectives and tasks. The aim of the work is to create and study a prototype of a multifunctional quadrupedal robot that is capable of moving according to developed algorithms and serving as an affordable basis for further expansion of functionality in the direction of autonomous control and use in specialized missions.
To achieve the set goal, a number of tasks need to be solved:
• analyze modern quadrupedal robots and determine the basic principles of their construction and movement;
• adapt the existing 3D model to the technical requirements of the prototype;
• develop a motion control system based on a microcontroller and servo drives;
• develop proprietary software code and limb coordination algorithm for basic movements and static balancing;
• test the movement algorithm on a physical prototype and evaluate its stability;
• determine directions for further modification of the system for specialized payloads.
Object of study. The object of study is the process of functioning of a mobile quadruped robotic platform during the performance of basic movements on flat and slightly uneven surfaces, as well as the process of its adaptation to the integration of various types of payloads and specialized sensor systems.
Subject of the study. The subject of the study is a multifunctional quadruped robot.
Research methods. To solve the set tasks, an analysis of information on existing designs and control strategies for quadrupedal robots was carried out. Kinematics calculations of the system, adaptation and modeling of the mechanical design, and development of software code for the microcontroller (Arduino Mega) were performed. The main methods include experimental determination of static balancing and testing of an iterative algorithm to evaluate the stability of the prototype.
Scientific novelty of the results obtained. The scientific novelty lies in the practical implementation of a quadruped robot prototype based on a simplified but effective architecture, as well as in the creation of proprietary software code and an algorithm that ensures the sequential coordination of 12 servo drives and static balancing. The novelty of the created system lies in the development of an open, modular platform, which is a budgetary basis for prototyping specialized mobile complexes.
Publications. Based on the knowledge and results obtained in the master's thesis, a conference paper entitled “Quadruped robots with voice control” was published in the collection of works of the XXI Scientific and Practical Conference of Students, Postgraduates, and Young Scientists “Efficiency and Automation of Engineering Solutions in Instrument Making.” An article entitled “Prospects for the development of quadruped robots with voice control functionality” was also written in a category B journal “Bulletin of Kherson National Technical University” No. 4/2025.
Research advisor: R.Halahan
