Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocities, joint currents, joint voltages, and body inclination) can support vestibular reflexes and compliant control mechanisms for body posture stabilization and compliant behavior, respectively. To evaluate the performance of Lilibot, we implemented our developed adaptive neural controller on it. The experimental results demonstrated that Lilibot can autonomously and rapidly exhibit adaptive and versatile behaviors, including spontaneous self-organized locomotion (i.e., adaptive locomotion) under different leg orientations, body posture stabilization on a tiltable plane, and leg compliance for unexpected external load compensation. To this end, we successfully developed an open-source, friendly, small-sized, and lightweight quadruped robot with reconfigurable legs and multiple sensory feedback that can serve as a generic quadrupedal platform for research and education in the fields of locomotion, vestibular reflex-based, and compliant control.

运动的自组织表征了自动自发步态生成的特征，无需预先编程的肢体运动协调。为了研究四足运动中的这一特征，我们在这里提出了一种新的开源、小型可重构四足机器人，称为 Lilibot，具有多个感官反馈及其物理模拟。Lilibot 被设计为一个友好的四足平台，具有独特的特性，包括重量轻、易于操作、模块化组件和多个实时感官反馈。它的模块化组件可以灵活地重新配置以获得特征，例如不同的腿方向，用于测试自组织运动控制的有效性和泛化性。它的多种感觉反馈（即关节角度、关节速度、关节电流、关节电压、和身体倾斜）可以分别支持前庭反射和身体姿势稳定和顺从行为的顺从控制机制。为了评估 Lilibot 的性能，我们在其上实现了我们开发的自适应神经控制器。实验结果表明，Lilibot 可以自主、快速地表现出适应性和通用性，包括在不同腿部方向下的自发自组织运动（即自适应运动）、可倾斜平面上的身体姿势稳定以及对意外外部负载补偿的腿部顺应性。为此，我们成功开发了一个开源的、友好的、小型的、