Quadbot 17

This is Quadbot 17, a work-in-progress quadruped robot born out of a learning exercise in Autodesk Fusion 360.

This quadruped robot will use AX-12A Dynamixel servos (might be upgraded to the more powerful AX-18A). The legs currently have 20 DoF and there are an additional 2 DoF for the body. Servos and brackets are from the Robotis range, with some replaced by their metal counterparts available from Trossen Robotics. They will be painted to match the colour theme. The rest of the robot is designed with 3D printed parts in mind. The main framework of printed parts forming the body will be sandwiched between 1.5 mm thick custom plates.

The novel aspects of this quadruped are its articulated legs, which have higher DOF than usually found on small quadrupeds, and its articulated "spine", which will help it in navigating uneven terrain.

A number of options are considered for the "head", or main sensor pack: an XBOX Kinect v2 time-of-flight sensor, a Scanse Sweep LiDAR and an Intel