MiNI-Q^2
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MiNI-Q: A Miniature, Wire-Free Quadruped with Unbounded, Independently Actuated Leg Joints
arXiv:2603.11537v2 Announce Type: replace Abstract: Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently actuated, mechanically unbounded 2-DOF leg joints. We present the mechanical design, kinematic analysis, and experimental validation of the proposed robot.