Squeaky

Squeaky is an affordable, modular quadruped robot designed for educational institutions, researchers, and DIY robotics enthusiasts. Developed at Virginia Tech's TREC Lab to democratize access to legged robotics platforms through cost-effective design and simplified assembly.

Primary Goal: Create an accessible entry point to quadruped robotics without sacrificing performance or educational value.

Impact: Platform adopted by labs and maker communities for locomotion research, controls education, and robotics experimentation.

Accessibility Through Design:

• Off-the-shelf components (no custom machining required)

• Standardized hardware (M3 screws, 608 bearings throughout)

• 3D-printable structure (no specialized 3D-printers)

• Modular architecture (easy repairs and modifications)

• Clear assembly documentation

Target Users:

• University research labs (locomotion and controls)

• High school robotics teams

• Individual makers and hobbyists

• Educational demonstrations

• Algorithm development test-beds

Design for Manufacturability:

Applied lessons from PANDORA humanoid development:

• Part consolidation reducing component count by 30%

• Print orientation optimized for strength

• Minimal support material requirements

• Snap-fit assemblies where possible

• Color-coded assembly instructions

Component Selection Strategy:

• Commercial servo motors (reliable, replaceable)

• Standard bearings (608 size, readily available)

• Off-the-shelf electronics (Arduino/Raspberry Pi ecosystem)

• Modular leg design (one broken leg ≠ entire deconstruction)

Result: Maintained locomotion performance while achieving significant cost reduction compared to research platforms.

Challenge: Different users need different computing capabilities.

Solution: Two versions optimizing for different compute platforms.

Version 1: Compact (Raspberry Pi / Libre Board)

• Smaller body form factor

• Lower power consumption

• Sufficient for basic locomotion

• Ideal for education and demonstrations

Cost: ~$1,000

Version 2: Extended (NVIDIA Jetson)

• Longer body accommodating larger board

• GPU acceleration capability

• Computer vision applications

• Advanced algorithms (SLAM, ML)

• Research-grade compute

Cost: ~$2,000

Design Approach: Single leg design shared between versions—only the body structure differs. Maintains parts commonality while serving different use cases.

1. Simplified Assembly

• Reduced assembly time 40% vs previous lab designs

• Step-by-step guide with photos

• No specialized tools required

• Beginner-friendly instructions

2. Standardized Hardware

• Single screw size (M3) throughout most of structure

• 608 bearings (skateboard standard—cheap and available)

• Common servo size (easy replacement)

• Reduces purchasing and storing complexity for users

3. Modular Leg Design

• Individual leg replacement without affecting others

• Iterate designs cheaply

Iterative Design:

1. Initial concept based on lab needs assessment

2. CAD modeling and motion simulation

3. Prototype single leg for testing

4. Full robot assembly and gait testing

5. User feedback from early adopters

6. Design refinement based on real-world use

7. Documentation and open-source release

Collaboration:

• Mechanical design: Led structural and assembly optimization

• Controls team: Gait development and testing

• Software team: ROS integration and documentation

Schoedel, S., Fuge, A., Kalita, B., Leonessa, A. (2022). "Development of an Affordable and Modular 3D Printed Quadruped Robot" ASME International Mechanical Engineering Congress and Exposition (IMECE®), Columbus, Ohio.