Date of Award

3-2026

Degree Name

MS in Mechanical Engineering

Department/Program

Mechanical Engineering

College

College of Engineering

Advisor

Siyuan Xing

Advisor Department

Mechanical Engineering

Advisor College

College of Engineering

Abstract

This thesis presents the design, analysis, and experimental validation of a 12-degree-of-freedom (DOF) quadruped robot developed as a research platform for legged locomotion and control. The system builds upon the Cal Poly Legged Robotics Group’s prior 8-DOF quadruped, addressing key limitations in manipulability, load distribution, and mechanical robustness by introducing a 3-DOF leg architecture.

The mechanical design emphasizes lightweight construction, structural integrity, and modularity to support future research extensions. Static and dynamic loading models were developed to inform component sizing and material selection. A carbon-fiber chassis and redesigned leg assemblies were fabricated and validated through finite element analysis and physical testing.

Kinematic models for the 3-DOF leg were developed, and both forward and inverse kinematics were validated in simulation and on hardware. Single-leg experimental testing was conducted to verify kinematic accuracy, impedance control behavior, impact response, and motor current demands. Results demonstrate stable, repeatable performance under external disturbances and dynamic loading, with measured joint torques and currents remaining within actuator limits.

This work delivers a robust mechanical and control foundation for future full-body quadruped locomotion research, including multi-leg coordination, dynamic gait generation, and reinforcement learning.

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