Low-Cost Quadruped Robot: Design, Kinematic Modelling, and Performance Evaluation

Abstract

Quadruped robotic systems have gained increasing attention due to their superior mobility and stability in complex and unstructured environments. However, the high cost and system complexity of existing quadruped platforms significantly limit their accessibility for educational, domestic, and small-scale service applications, particularly in resource-constrained settings. This study presents the development and performance evaluation of a low-cost quadruped robotic designed using affordable materials, while maintaining reliable locomotion and task execution capabilities. The robotic platform integrates an ESP32 microcontroller, high-torque servo actuators, ultrasonic sensors, and an inertial measurement unit (IMU) within a lightweight 3D-printed chassis. Kinematic modelling of the robot leg was conducted using the Denavit–Hartenberg (DH) convention, and both forward and inverse kinematics were derived to enable accurate motion control. Performance evaluation was carried out through systematic experiments assessing mobility, task execution efficiency, sensor reliability, and energy consumption across different terrains and operational scenarios. Results indicate that the developed robot achieved an average walking speed of 0.75 m/s on flat terrain, with high stability and an overall task execution success rate exceeding 84%. Sensor evaluation revealed reliable obstacle detection at short to medium ranges, though performance declined at longer distances. A comparative cost analysis demonstrated that the proposed system, with an estimated cost of $450, offers a substantial reduction compared to commercial quadruped robots while retaining essential functional capabilities. The findings validate the feasibility of developing affordable quadruped robots with acceptable performance, making the system suitable for educational use, prototyping, and basic service applications.