A quadruped robot with software and hardware designed to facilitate robotics research.

The Allegro Dog is a quadruped robot with twelve active and four passive degrees of freedom. The legs are deigned to have a low inertia and are actuated by Maxon motors and gear reduction boxes. The controller is an on-board computer with RoboticsLab software. It has distributed control and can be controlled in real time or can be simulated with hardware-in-the-loop.

The Allegro Dog comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code. 

Allegro Dog

The Allegro Dog is a quadruped robot with twelve active and four passive degrees of freedom. The legs are deigned to have a low inertia and are actuated by Maxon motors and gear reduction boxes. The controller is an on-board computer with RoboticsLab software. It has distributed control and can be controlled in real time or can be simulated with hardware-in-the-loop.SoftwareThe Allegro Dog comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code.&nbsp;

Describes the hardware, software, and component overview. Goes into the kinematic information, as well as the dynamic info. 

Allegro Dog Wiki

Contains the code to control the Allegro Dog robot.

Allegro Dog on GitHub

Describes the project, and its specifications. 

Allegro Dog Brochure

Length

Width

Height

Weight

Computer

Power

Joint Limits

Drive

Max Payload

Max battery runtime

Actuators

A quadruped robot with software and hardware designed to facilitate robotics research. 

Length	450	mm
Width	250	mm
Height	500	mm
Weight	24	kg
Computer	Advantech MIO-5290 single board computer
Power	4	24V, 4500mAh batteries