Testudog: Autonomous Quadruped Robot for Unstructured Terrain Navigation

Abstract

Robotic autonomy is a field that has attracted significant interest, as robots become more capable of independent problem-solving. Quadruped robots have risen in popularity for their ability to navigate complex terrain. However, robust autonomous navigation, especially through unknown and variable environments, remains a challenge. Platforms like Spot from Boston Dynamics are currently being deployed for a diverse range of commercial purposes, but often possess a significant upfront cost. To address these challenges, Robotics at Maryland (R@M), the University of Maryland's largest competitive student robotics group, has been developing Testudog. Testudog is a quadruped robot platform that seeks to provide a low-cost and fully autonomous navigation solution. Built completely from scratch, Testudog features a lightweight, 3D-printed frame with four modular legs, actuated by Quasi-Direct Drive motors and capable of 12 degrees-of-freedom movement. With advanced control systems, integrated torque sensing, and terrain-mapping sensors, Testudog aims to deliver an autonomous quadruped platform competitive with commercial systems, while remaining affordable through the use of modular, resourceful, and robust design strategies.