{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:55:12Z","timestamp":1760147712830,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T00:00:00Z","timestamp":1676592000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Robots equipped with legs have significant potential for real-world applications. Many industries, including those concerned with instruction, aid, security, and surveillance, have shown interest in legged robots. However, these robots are typically incredibly complicated and expensive to purchase. Iron Dog Mini is a low-cost, easily replicated, and modular quadruped robot built for training, security, and surveillance. To keep the price low and its upkeep simple, we designed our quadruped robot in a modular manner. We provide a comparative study of robotic manufacturing cost between our proposed robot and previously established robots. We were able to create a compact femur and tibia structure with sufficient load-bearing capacity. To improve stability and motion efficiency, we considered the novel Watt six-bar linkage mechanism. Using the SolidWorks modeling software, we analyzed the structural integrity of the robot\u2019s components, considering their respective material properties. Furthermore, our research involved developing URDF data for our quadruped robot based on its CAD model. Its gait trajectory is planned using a 14-point Bezier curve. We demonstrate the operation of the simulation model and briefly discuss the robot\u2019s kinematics. Computational methods are emphasized in this research, coupled with the simulation of kinematic and dynamic performances and analytical\/numerical modeling.<\/jats:p>","DOI":"10.3390\/robotics12010028","type":"journal-article","created":{"date-parts":[[2023,2,20]],"date-time":"2023-02-20T02:56:02Z","timestamp":1676861762000},"page":"28","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8553-7787","authenticated-orcid":false,"given":"Md. Hasibur","family":"Rahman","sequence":"first","affiliation":[{"name":"Department of Computer Science Engineering, IUB, Dhaka 1229, Bangladesh"},{"name":"RIoT Research Center, IUB, Dhaka 1229, Bangladesh"}]},{"given":"Saadia Binte","family":"Alam","sequence":"additional","affiliation":[{"name":"Department of Computer Science Engineering, IUB, Dhaka 1229, Bangladesh"},{"name":"RIoT Research Center, IUB, Dhaka 1229, Bangladesh"}]},{"given":"Trisha Das","family":"Mou","sequence":"additional","affiliation":[{"name":"Department of Computer Science Engineering, IUB, Dhaka 1229, Bangladesh"},{"name":"RIoT Research Center, IUB, Dhaka 1229, Bangladesh"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1875-7146","authenticated-orcid":false,"given":"Mohammad Faisal","family":"Uddin","sequence":"additional","affiliation":[{"name":"Department of Computer Science Engineering, IUB, Dhaka 1229, Bangladesh"},{"name":"RIoT Research Center, IUB, Dhaka 1229, Bangladesh"}]},{"given":"Mahady","family":"Hasan","sequence":"additional","affiliation":[{"name":"Department of Computer Science Engineering, IUB, Dhaka 1229, Bangladesh"},{"name":"RIoT Research Center, IUB, Dhaka 1229, Bangladesh"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"16878140211009035","DOI":"10.1177\/16878140211009035","article-title":"Design and driving model for the quadruped robot: An elucidating draft","volume":"13","author":"Yao","year":"2021","journal-title":"Adv. Mech. Eng."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Meng, X., Wang, S., Cao, Z., and Zhang, L. (2016, January 27\u201329). A review of quadruped robots and environment perception. Proceedings of the 2016 35th Chinese Control Conference (CCC), Chengdu, China.","DOI":"10.1109\/ChiCC.2016.7554355"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"2017","DOI":"10.1016\/j.asej.2020.11.005","article-title":"Mohanty. Development of quadruped walking robots: A review","volume":"12","author":"Biswal","year":"2021","journal-title":"Ain Shams Eng. J."},{"key":"ref_4","unstructured":"Todd, D.J. (2013). Walking Machines: An Introduction to Legged Robots, Springer Science & Business Media."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1171","DOI":"10.1007\/s12206-012-0219-8","article-title":"Design, and simulation for a hydraulic actuated quadruped robot","volume":"26","author":"Rong","year":"2012","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1016\/j.mechatronics.2018.03.010","article-title":"Onboard hydraulic system controller design for quadruped robot driven by gasoline engine","volume":"52","author":"Yang","year":"2018","journal-title":"Mechatronics"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"e01053","DOI":"10.1016\/j.heliyon.2018.e01053","article-title":"Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention","volume":"4","author":"Atique","year":"2018","journal-title":"Heliyon"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1007\/s12046-018-0918-7","article-title":"Development of a compliant legged quadruped robot","volume":"43","author":"Gor","year":"2018","journal-title":"S\u0101dhan\u0101"},{"key":"ref_9","unstructured":"(2019, March 14). WildCat-The World\u2019s Fastest Quadruped Robot. Available online: https:\/\/www.bostondynamics.com\/wildcat."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"046005","DOI":"10.1088\/1748-3182\/7\/4\/046005","article-title":"Towards a bio-inspired leg design for high-speed running","volume":"7","author":"Ananthanarayanan","year":"2012","journal-title":"Bioinspir. Biomim."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1177\/0278364913489205","article-title":"Towards Dynamic Trot Gait Locomotion-Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot","volume":"32","author":"Tuleu","year":"2013","journal-title":"Int. J. Robot. Res."},{"key":"ref_12","unstructured":"Rosendo, A., Liu, X., Nakatsu, S., and Shimizu, M. (2014). Biomimetic and Biohybrid Systems, Proceedings of the Third International Conference, Living Machines 2014, Milan, Italy, 30 July\u20131 August 2014, Springer International Publishing."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"9663746","DOI":"10.1155\/2022\/9663746","article-title":"Design of a Small Quadruped Robot with Parallel Legs","volume":"2022","author":"Lu","year":"2022","journal-title":"Complexity"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Pinto, V., Soares, I., Rocha, M., Lima, J., Gon\u00e7alves, J., and Costa, P. (2021). Design, modeling, and control of an autonomous legged-wheeled hybrid robotic vehicle with non-rigid joints. Appl. Sci., 11.","DOI":"10.3390\/app11136116"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Rahman, M.H., Islam, M.M., Al Monir, M.F., Alam, S.B., Rahman, M.M., Shidujaman, M., and Islam, R. (2022, January 12). Kinematics analysis of a quadruped robot: Simulation and Evaluation. Proceedings of the 2022 2nd International Conference on Image Processing and Robotics (ICIPRob), Colombo, Sri Lanka.","DOI":"10.1109\/ICIPRob54042.2022.9798744"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Biswal, P., and Prases, K. (2022). Mohanty. Kinematic and Dynamic Modeling of a Quadruped Robot. Machines, Mechanism and Robotics, Springer.","DOI":"10.1007\/978-981-16-0550-5_36"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"104412","DOI":"10.1016\/j.mechmachtheory.2021.104412","article-title":"Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots","volume":"164","author":"Morlando","year":"2021","journal-title":"Mech. Mach. Theory"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1016\/j.mechatronics.2010.04.006","article-title":"Reliable gait planning and control for miniaturized quadruped robot pet","volume":"20","author":"Yi","year":"2010","journal-title":"Mechatronics"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/S1672-6529(08)60099-2","article-title":"Piezoelectrically actuated biomimetic self-contained quadruped bounding robot","volume":"6","author":"Ho","year":"2009","journal-title":"J. Bionic Eng."},{"key":"ref_20","unstructured":"Sun, Z., Zhu, Z., Zhang, G., Li, Y., and Rong, X. (2022, January 1\u20133). Design and Control of a Quadruped Robot with Changeable Configuration. Proceedings of the International Conference on Intelligent Robotics and Applications, Harbin, China."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Shi, Y., Li, S., Guo, M., Yang, Y., Xia, D., and Luo, X. (2021). Structural design, simulation and experiment of quadruped robot. Appl. Sci., 11.","DOI":"10.3390\/app112210705"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"9968042","DOI":"10.1155\/2022\/9968042","article-title":"Stability Study and Simulation of Quadruped Robots with Variable Parameters","volume":"2022","author":"Cong","year":"2022","journal-title":"Appl. Bionics Biomech."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Rodin\u00f2, S., Matteo Curcio, E., di Bella, A., Persampieri, M., Funaro, M., and Carbone, G. (2020). Design, simulation, and preliminary validation of a four-legged robot. Machines, 8.","DOI":"10.3390\/machines8040082"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"480","DOI":"10.1007\/s10015-022-00765-8","article-title":"Dynamic simulation of non-programmed gait generation of quadruped robot","volume":"27","author":"Takei","year":"2022","journal-title":"Artif. Life Robot."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Bledt, G., Powell, M.J., Katz, B., Di Carlo, J., Wensing, P.M., and Kim, S. (2018, January 1\u20135). MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot. Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593885"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"10822","DOI":"10.3182\/20080706-5-KR-1001.01833","article-title":"BigDog, the rough-terrain quadruped robot","volume":"41","author":"Raibert","year":"2008","journal-title":"IFAC Proc. Vol."},{"key":"ref_27","unstructured":"Zong, M., Yang, Y., Fu, M., Wang, S., and Deng, Z. (2013, January 26\u201328). Dynamic modeling and kinematic analysis of Frog robot. Proceedings of the 32nd Chinese Control Conference, Xi\u2019an, China."},{"key":"ref_28","unstructured":"Raibert, M. (2012). Adaptive Mobile Robotics, World Scientific."},{"key":"ref_29","first-page":"831","article-title":"Design of HyQ-a hydraulically and electrically actuated quadruped robot","volume":"225","author":"Semini","year":"2011","journal-title":"Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Chen, X., Gao, F., Qi, C., and Zhao, X. (2013, January 25\u201327). Spring parameters design to increase the loading capability of a hydraulic quadruped robot. Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, Luoyang, China.","DOI":"10.1109\/ICAMechS.2013.6681702"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C.D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., and Bloesch, M. (2016, January 9\u201314). Anymal-a highly mobile and dynamic quadrupedal robot. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Republic of Korea.","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref_32","unstructured":"Ackerman, E. (2016). Boston Dynamics\u2019 SpotMini Is all Electric, Agile, and has a Capable Face-Arm, IEEE Spectrum."},{"key":"ref_33","unstructured":"Tirumala, S., Sagi, A., Paigwar, K., Joglekar, A., Bhatnagar, S., Ghosal, A., Bharadwaj, A., and Kolathaya, S. (2019). Gait library synthesis for quadruped robots via augmented random search. arXiv."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0377-0427(02)00733-1","article-title":"Phillips. q-Bernstein polynomials and B\u00e9zier curves","volume":"151","author":"George","year":"2003","journal-title":"J. Comput. Appl. Math."},{"key":"ref_35","unstructured":"Rahman, M.H. (2023, January 07). Practical Implementation and Simulation Video of Iron Dog Mini. Available online: https:\/\/github.com\/irondogmini."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/1\/28\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:39:36Z","timestamp":1760121576000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/1\/28"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,17]]},"references-count":35,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2023,2]]}},"alternative-id":["robotics12010028"],"URL":"https:\/\/doi.org\/10.3390\/robotics12010028","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2023,2,17]]}}}