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QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

QLAUN Bot (Quad-Legged Adaptive Unmanned Navigator Robot) is a torque-controlled quadruped robot that is research-oriented, cost-effective, and aimed at achieving simultaneous robustness and agility while being completely 3D-printed. It is a quadruped robot that is aimed at empowering robotics research at universities and research institutes in Lebanon and the MENA region. Using a novel electronics-free leg design strategy, we present a modular robot with interchangeable and easily replaceable legs. The 15 kg robot possesses 12 DoF (Degrees-of-Freedom) with three per leg, each paired with a co

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