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Most of the quadrupeds developed are highly actuated, and their control ishence quite cumbersome. They need advanced electronics equipment to solveconvoluted inverse kinematic equations continuously. In addition, they demandspecial and costly sensors to autonomously navigate through the environment astraditional distance sensors usually fail because of the continuousperturbation due to the motion of the robot. Another challenge is maintainingthe continuous dynamic stability of the robot while walking, which requirescomplicated and state-of-the-art control algorithms. This paper presents athorough description of the hardware design and control architecture of ourin-house prismatic joint quadruped robot called the PRISMA. We aim to forge arobust and kinematically stable quadruped robot that can use elementary controlalgorithms and utilize conventional sensors to navigate an unknown environment.We discuss the benefits and limitations of the robot in terms of its motion,different foot trajectories, manufacturability, and controls.

Design, Manufacturing, and Controls of a Prismatic Quadruped Robot: PRISMA