Legged Robot

Leg geometry, gait timing and actuator torque for a walking platform.

🦿 Legged Robot Configurator

Design quadrupeds, hexapods, and other legged robots with gait analysis and actuator sizing

Robot Configuration

Number of Legs

legs

Leg Configuration

Gait Pattern

Total Joints

16.00

Legs in Contact

2.00

Dimensions

Body Length

Body Width

Leg Length (total)

Standing Height

Segment Length

100.00 mm

Stride Length

240.00 mm

Mass & Payload

Body Mass (dry)

Target Payload

Body Frame

Total Mass

15.10 kg

Force/Leg

74.07 N

Actuators

Actuator Type

Hip Torque Req

15.55 Nm

Knee Torque Req

3.70 Nm

Actuator Size

23.33 Nm

Backdrivable

⚠ Need higher torque actuators

Performance

Target Speed

m/s

Stride Frequency

4.17 Hz

Froude Number

0.41

Swing Time

120.00 ms

Leg Speed

2.00 m/s

🚶 Walking Gait (Fr < 0.5)

Power & Efficiency

Mech. Power

44.44 W

Elec. Power

55.55 W

Peak Power

166.65 W

CoT

0.37

Battery Cap

34.72 Wh

Battery Mass

0.17 kg

Stability Analysis

Gait Stability

70.00 %

Static Margin

70.00 mm

Terrain Capability:
flat, grass, rocky

Gait Timing Diagram

Filled = Stance phase, Empty = Swing phase

Joint Torque vs Angle

Speed vs Efficiency

📋 Build Specification

LEGGED ROBOT SPECIFICATION
CONFIGURATION:
  Type: 4-legged (3-Segment Mammalian)
  Gait: Trot (Diagonal)
  Joints: 16 total

DIMENSIONS:
  Body: 400×200mm
  Leg Length: 300mm
  Standing Height: 250mm

MASS:
  Total: 15.1kg
  Payload: 2kg

ACTUATORS:
  Type: BLDC + Planetary
  Torque: 23.3Nm
  Count: 16

PERFORMANCE:
  Speed: 1m/s
  Froude: 0.41
  CoT: 0.37
  Power: 56W

COST: $2917

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