Supplement media for Development of A Quadruped Robot System with Torque-controllable Modular Actuator Unit

This study presents an overview of AiDIN-VI, a force-controllable quadruped robot system that is incorporated the mandatory abilities: speed, efficiency, and mobility to provide real-world services.The paper describes design methodologies and principles for implementing the requisite capabilities in a single robot platform, and in particular, the torque sensing method, components, and modularization method of the torque-controllable actuator unit.The developed robot platform is equipped with all the components that are onboard PCs (for motion generation and vision mapping), battery, modular actuator units, wireless network router, and remote E-stop controller, for autonomous and manual locomotion control.The performance of the robot is subdivided into joints, legs, and robots, and has been experimentally tested.The capabilities for joints torque control (+-70 Nm), leg force control (350 N in the z-axis), robot (vertical loading 25 kg, pulling force 200 N) were experimentally treated, and locomotive performances (walk, pace, trot, and jump) in various terrains were also executed.The maximum trot gait speed of 1.2 m/s, the minimum cost of transport of 1.187 at a speed of 1.0 m/s and 1.15 with loading condition were recorded.