There is not a secret recipe to build a robot, even more so, a lot of makers and hackers shares their ideas and projects with anyone aiming to make robots at home. One of these projects is a quadruped robot inspired by a little dog-called Sebastian.
The user Dickel shares its autonomous robot-dog project and details how to build the quadruped robot from scratch on letsmakerobots website.
The robot has a body frame made by aluminum sheets, and for a well-distributed weight body, the batteries are located in legs and inside of the chest.
The robot is controlled by an Arduino Mega 2560, and for obstacle detection is used an HC-SR04 ultrasonic sensor.
For more instructions and resources, you can check the project page.
MD-Hund – Simple overview of head/neck and tail mechanisms
How MD-Hund move its legs