标题： Q8bot的设计：一种微型、低成本、动态的四足机器人，完全无需电线 显示英文标题

标题： Design of Q8bot: A Miniature, Low-Cost, Dynamic Quadruped Built with Zero Wires

摘要： 本文介绍了Q8bot，一个开源的微型四足机器人，专为机器人研究和教育设计。 我们提出了该机器人的创新无线设计方法，使其具有优越的外形尺寸、坚固性、可复制性和高性能。 其尺寸和重量与现代智能手机相似，该独立机器人一次电池充电可行走超过一小时，并能经受米级高度的跌落，只需简单维修即可恢复。 其300美元的物料清单包括最少的现成组件、来自在线供应商的易于获取的定制电子元件，以及可在爱好者3D打印机上制造的结构部件。 初步的用户组装研究表明，Q8bot可以轻松复制，单人平均组装时间不到一小时。 通过启发式开环控制，Q8bot实现了每秒5.4个身体长度的稳定行走速度和每秒5弧度的转向速度，并能完成跳跃和攀爬中等坡度等其他动态动作。 显示英文摘要

摘要： This paper introduces Q8bot, an open-source, miniature quadruped designed for robotics research and education. We present the robot's novel zero-wire design methodology, which leads to its superior form factor, robustness, replicability, and high performance. With a size and weight similar to a modern smartphone, this standalone robot can walk for over an hour on a single battery charge and survive meter-high drops with simple repairs. Its 300-dollar bill of materials includes minimal off-the-shelf components, readily available custom electronics from online vendors, and structural parts that can be manufactured on hobbyist 3D printers. A preliminary user assembly study confirms that Q8bot can be easily replicated, with an average assembly time of under one hour by a single person. With heuristic open-loop control, Q8bot achieves a stable walking speed of 5.4 body lengths per second and a turning speed of 5 radians per second, along with other dynamic movements such as jumping and climbing moderate slopes.