MiNI-Q: A Miniature, Wire-Free Quadruped with Unbounded, Independently Actuated Leg Joints

Description

Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently actuated, mechanically unbounded 2-DOF leg joints. We present the mechanical design, kinematic analysis, and experimental validation of the proposed robot. The leg mechanism enables both oscillatory gaits and rotary locomotion while allowing the robot to fold to a mi

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