Design of a Small Quadruped Robot with Parallel Legs

Table 1

The structural design parameters.

Symbol	Description	Value
W	Torso width	96 mm
L	Torso length	210 mm
H	Torso high	64 mm
	Interval of motor	15 mm
	Length of thigh	50 mm
	Length of calf	80 mm
	Hip joint rotation range	−90°∼+90°
	Knee joint rotation range	15°∼175°
M	Total mass	0.44 kg