Design and implementation of a simple quadruped robot

Abstract This paper designed a quadruped bionic robot control system based on STM32. Through the control module, execution module, and sensor module, precise control of the robot’s movements and posture was achieved. A posture feedback control algorithm ensured the adjustment speed of the torso. The hardware part was centered around the STM32 microcontroller, with the control circuit designed to integrate various communication interfaces such as UART and Ethernet. The QT5 software was used for simulation, analyzing the quadruped robot’s adaptability and stability during movement through the motor’s torque and angle output parameters, providing both theoretical and practical foundations for optimization and integration in real-world applications.