Design and Control of a High-Dynamic Modular Reconfigurable Legged Robotic System

Legged robots possess exceptional terrain adaptability, making them an ideal platform for outdoor exploration and cargo transport across complex terrains. The number and configuration of legs play a crucial role in their performance; however, most current designs are monolithic, lacking the flexibility for reconfiguration. The protocol presented in this paper details the design and fabrication of a modular legged robot system with robust walking capabilities and flexible reconfiguration between bipedal and quadrupedal configurations. First, various functional modules are mechanically assembled to complete the construction of the bipedal platform and the assembly of the modular connecting device. Subsequently, using debugging software, we configured the inertial measurement unit and motors, including set controller area network (CAN) identity (ID), baud rate, and other working parameters to ensure they are in the correct working state. Then, we designed a whole-body control strategy and a distributed control framework to ensure stable walking of the bipedal unit and coordinated movement of the assembled structure, respectively. Finally, we validated the system's effectiveness on both bipedal and quadrupedal configurations, enabling the robot to achieve stable outdoor walking.