Neurorobotic Mouse (NeRmo) V4.1

This report describes the final version of the Neurorobotic Mouse robot, also called NeRmo. This biomimetic robot is modular and low-cost; it was created to mimic the locomotion of a rodent and has the size of a common rat (Rattus norvegicus). The robot is untethered, easy to use and simple to produce; it thus can be used as a universal research platform. It is based on tendon-driven actuation, which enables the implementation of a compliant leg and body design and thus enables adaptive and dynamic walking motions. Small biomimetic robots can be useful for behavioural/social studies in combination with animals, or for investigating new, efficient types of locomotion for exploration systems. Combined with digital twins, they are a useful tool to reduce the reality gap between simulation and the real world.