QLAUN：一款面向研究、鲁棒性强、敏捷、模块化且经济的力矩控制四足机器人
QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot
- Lebanese American University（黎巴嫩美国大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
QLAUN是一款面向研究的低成本力矩控制四足机器人，采用模块化3D打印设计，具备高扭矩输出与灵活关节，为科研提供新型腿式机器人研究平台。
AI中文摘要：
QLAUN Bot（四足自适应无人导航机器人）是一款力矩控制四足机器人，面向研究领域，成本效益高，旨在实现鲁棒性与敏捷性的兼顾，且完全采用3D打印制成。该四足机器人旨在助力黎巴嫩及中东和北非（MENA）地区高校与科研机构开展机器人学研究。我们采用一种新型无电子元件的腿部设计策略，打造出一款具备可互换、易更换腿部的模块化机器人。这款15公斤重的机器人拥有12个自由度（DoF），每条腿对应3个自由度，每个自由度均搭配一个完全采用3D打印的准直接驱动（QDD）执行器，该执行器由无刷直流电机与低减速比齿轮箱传动装置组成，该装置连接至皮带传动系统，可显著提升关节处的扭矩输出。我们设计了将髋关节与膝关节执行器解耦的腿部，以提升机器人的整体模块化程度。QLAUN几乎完全采用聚乳酸（PLA）3D打印制成，并使用现成零件组装，打造出一款适用于腿式机器人运动研究的鲁棒、敏捷且经济的机器人。腿部关节具备大范围运动能力，包括可连续运动的髋关节屈伸关节。我们还采用TPU-95A材料打印出柔性足部，以缓解硬冲击并应对地形不确定性。本扩展摘要旨在向机器人学领域的学术及科研界介绍QLAUN这一新型研究平台，重点阐述其开发背后的设计理念与原则。
英文摘要：
QLAUN Bot (Quad-Legged Adaptive Unmanned Navigator Robot) is a torque-controlled quadruped robot that is research-oriented, cost-effective, and aimed at achieving simultaneous robustness and agility while being completely 3D-printed. It is a quadruped robot that is aimed at empowering robotics research at universities and research institutes in Lebanon and the MENA region. Using a novel electronics-free leg design strategy, we present a modular robot with interchangeable and easily replaceable legs. The 15 kg robot possesses 12 DoF (Degrees-of-Freedom) with three per leg, each paired with a completely 3D-printed Quasi-Direct Drive (QDD) actuator that consists of a brushless DC motor and a low-ratio gearbox transmission that is connected to a belt transmission system for significantly increasing the torque outputs at the joints. We present legs that have decoupled hip and knee actuators to improve the overall modularity of the robot. QLAUN is almost completely 3D-printed using polylactic acid (PLA) and assembled using off-the-shelf parts to create a robust, agile, and affordable robot for legged robot locomotion research. The legs possess joints with wide ranges of motion, including a continuous hip flexion-extension joint. A compliant foot, printed using TPU-95A is also implemented for alleviating hard impacts and handling terrain uncertainties. This extended abstract aims to introduce QLAUN, a novel platform for robotics research, emphasizing the design concepts and principles that underpin its development to the academic and research communities in the field of robotics.
