A mobile cat-sized, quadruped legged locomotion machine with the capability of model-free locomotion control.

Oncilla robot is designed modularly; its legs and trunk, actuators, sensors, and controllers are relatively easy to replace.

Reproducing parts requires a low level of technology; access to a generic 3D printer, and a basic machining workshop. Components such as brushless motors are off-the-shelve items. Printed circuit board layouts and firmware code are included in the project source code. If required, they can be replaced by custom solutions—Oncilla robot’s custom interfaces are open sourced

Oncilla Robot

<p>Oncilla robot is designed modularly; its legs and trunk, actuators, sensors, and controllers are relatively easy to replace.</p><p>Reproducing parts requires a low level of technology; access to a generic 3D printer, and a basic machining workshop. Components such as brushless motors are off-the-shelve items. Printed circuit board layouts and firmware code are included in the project source code. If required, they can be replaced by custom solutions—Oncilla robot’s custom interfaces are open sourced.</p>

Describes the robot’s mechanical hardware and explains the software architecture of the robot. Results from hardware and simulation experiments are shown. Discusses design, results and future directions. Provides links to the open-source files + supplementary material provides further details on rob

Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs

Compares three different trotting techniques and five different turning strategies on the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models.



Comparing Trotting and Turning Strategies on the Quadrupedal Oncilla Robot.

Provides a description of the project; its goal, motivations, and hardware choices.



Oncilla Robot—A Light-weight Bio-inspired Quadruped Robot for Fast Locomotion in Rough Terrain.

This Repository holds all mechanical and electronics blueprint of the Oncilla robots.



Oncilla robot hardware repository 

Maximum speed	 

Weight 

Length 

Hip height	 

Overall height	

Width

Power

Servos

Sensors 

IMU	

A mobile cat-sized, quadruped legged locomotion machine with the capability of model-free locomotion control.



Maximum speed	0.63	ms
Weight	5.1	kg
Length	0.4	m
Hip height	0.18	m
Overall height	0.31	m
Width	0.25	m