XDog: Small and Low-cost Four Legged Robot







XDog is a small electric quadruped designed and built by Xing Wang, a graduate student at Shanghai University, with support from his adviser Jia Wenchuan. The robot has 12 motors (each leg has 3 DoF), and uses force sensors on each foot, IMU, and joint-angle sensors for control. Wang says XDog “has just been born,” and he’s still working on its walking gait (top speed is currently about 0.6 m/s) and hopes to add capabilities like running and jumping. And if you noticed all the Boston Dynamics references in the video, yes, Wang is a fan: 
Marc Raibert from Boston Dynamics is my idol,” he says. “Their papers helped me to design XDog.” He added: “But Boston Dynamics quadruped robots are large and expensive, and I want to use [a different design] to make quadruped robots simpler and smaller, so that they can help ordinary people with things like carrying objects or as companions.”
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