In light of the great advances in the field of legged robotics for applications in industrial inspection, this work aims to adapt and build the quadruped robot Solo, a light and compact robot developed by researchers at the University of New York (NYU), whose mechanical and electronic design was made available openly and free of charge (open-source). The robot has 8 degrees of freedom, torque, speed and position control on all joints, and a mechanical structure designed to be manufacturing with a 3D printer, which reduces considerably its assembly cost. The objective is to further increase the accessibility of this project through improvements and modifications, so it allows the use of national components and, with that, it can serve as a research platform in the field of legged robots for Brazilian universities. This work presents the kinematic modeling of the robot’s leg and dynamic simulations performed using available tools such as Matlab and RaiSim. Experimental validation is carried out with the control of different trajectories in one leg of the robot, with the acquisition of data from its actuators for a quantitative analysis.