The Quasi-Passive Quadruped Robot walking: PASIQUAD Articles uri icon

publication date

  • June 2017

start page

  • 141

end page

  • 145


  • 4


  • 2

Electronic International Standard Serial Number (EISSN)

  • 2574-8092


  • The design of the four legged walking robot "PASIQUAD" is presented in this article. It was designed in the university Carlos III of Madrid. It is a quadruped quasi-passive robot (with only one motor/actuator). The manuscript is focused on how the PASIQUAD walks and the kinematics and dynamics of the movement. In the manuscript the position, velocity and acceleration of each of its parts, as well as all the forces and torques on each of them, motor torque included, will be explain. The PASIQUAD robot copy the movement of animals and it is almost passive. That is a big advantage in energy cost.


  • Education
  • Mathematics
  • Mechanical Engineering


  • robotics; passive; walking robots; quadruped; design