Image 1 - Serval is a lightweight, low-cost, and compliant quadruped robot with actuated spine and high range of motion in all joints.

Image 2 for Serval Lightweight Quadruped Robot

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Serval Lightweight Quadruped Robot

company logo for Biorobotics Laboratory, EPFL Biorobotics Laboratory, EPFL

Country: Switzerland

Summary

Serval is a lightweight, low-cost, and compliant quadruped robot with actuated spine and high range of motion in all joints.

Status: Prototype, Research

Operation: Autonomous, Semi-autonomous, Teleoperation

Robot Type / Domain: Research

Tasks: Study of mechatronic complexity to achieve rich motion skills

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Pictures' Credit: Biorobotics Laboratory, EPFL.

Technical Specifications

Min. Size: 563L 246W (mm)

Min. Size: 22.165L 9.685W (in)

Max. Size: 563L 246W 389H (mm)

Max. Size: 22.165L 9.685W 15.315H (in)

Max. Payload: N/A

Weight: 3.56 kg

Weight: 7.848 lbs

Max. Locomotion Speed: N/A

Max. Slope: 16°

Battery Operated? Yes

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Gaits: Dynamic, Walk, Bound, Trot, Other

Number of Legs: 4

DOFs per Leg: 3

DOFs per Arm/Manipulator: N/A

DOFs (total): 15

Manipulation: none

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

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Stiffness: Diagonal Spring [N/mm] 7.76 • Parallel Spring [N/mm] 9.06 • Foot Spring [N/mm] 1.98 (x2) • Adduction/ Abduction [Nm/rad] 253.2 • Spine [N/mm] 8.4/ 52

ROM: Fore Hip [◦] +76/-50 • Hind Hip [◦] +84/-64 • Knee [mm] 93 • Adduction/ Abduction [◦] +90/-70 • Spine [◦] ±90/±30

Torgue: Stall torgue: Servo [Nm] 2.5/ 6 (12V)

Controller & Computing: Single Board Computer Odroid XU4

Actuators: Motor: Servo Dx MX28R/64R

Power supply: Voltage: Servo [V] 10-14.8

Battery: LiPo-Battery 3S-3.3Ah-25C

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References

Eckert P, Schmerbauch AE, Horvat T, et al. Towards rich motion skills with the lightweight quadruped robot Serval. Adaptive Behavior. 2020;28(3):129-150. doi:10.1177/1059712319853227

Eckert, P. et al. (2018). Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study. In: Manoonpong, P., Larsen, J., Xiong, X., Hallam, J., Triesch, J. (eds) From Animals to Animats 15. SAB 2018. Lecture Notes in Computer Science(), vol 10994. Springer, Cham. https://doi.org/10.1007/978-3-319-97628-0_4

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