This is my design for a quadruped with 2 DOF per leg and a pivot point in the center of the body to enable the legs to lift.

The servo’s that I am going to be using are Hitec HS475 BB servos with 76oz torque. the bot itself will be around 4 lbs, so these will have plenty of power.

The chassis is going to be composed of laser cut lexan with aluminum standoffs.

The main controller will be my CMU Qwerk w/ imbeded Linux. I will also be incorporating a SRV-1 Blackfin Camera for navigation as well as an the addition of sonar and IR range finders.

Each of the 4 legs will have pressure sensors to determine if the leg is on the ground or needs to continue moving down.

this will all be controlled via wi-fi and also eventually I would like to make it controllable via my I-phone.

The configuration for the legs are loosely based on a robot built by professor Kan Yoneda, but it is my own design for the overall robot.