Aholedog: A Minimalistic Parallel Holonomic Dynamic Walking Quadruped Robot

I made an ultra-low-cost ($120) quadruped robot moving base for the MechWarfare competition that I couldn't get a chance to attend. I used a novel spring-and-cable parallel mechanism and a minimalistic open-loop trotting gait generator. The robot achieved 100 mm/s walking speed.

Read my report (PDF).

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