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This Instructable will show you how to build a quadruped robot from scratch using 3D printed parts and off-the-shelf electronic components.

Robot Design

A quadruped robot is a robot with four legs. There are any number of ways a four-legged robot can be designed. The robot we will be building in this Instructable has four legs arranged symmetrically around the body.

Each leg is actuated by three servos: one for forward/backward movement, one for up/down movement, and one to bend the leg in the middle. This gives the robot three degrees of freedom, allowing it to move in any direction.

The robot is also equipped with a NeoPixel LED ring that functions as the robot's eye. This part is used mostly for aesthetics, however it is also useful for making it easier to identify the front side of the robot since it is symmetrical. Giving the robot a kind of "face" also gives it some anthropomorphism.

All of the design work for the quadruped was done in Autodesk Fusion 360.

Motion

Since the quadruped can articulate each of its four legs with three degrees of freedom, it has a highly flexible range of motion.

Robot Construction

The quadruped is constructed mostly from 3D printed frame parts and readily available hardware. The electronics used to power and control the robot are normal (albeit high quality) hobby servos and Arduino-compatible microcontrollers.

Robot Control

The robot is controlled with a wireless third-party Playstation 2 controller.

Step 1: Gather Your Parts

We will need the parts below to complete the build, along with some general-purpose materials like solder and hot glue.

Electronics Parts


Lynxmotion Botboarduino
Quantity: 1

SSC-32 Servo Controller
Quantity: 1

Hitec HS-645MG Servo
Quantity: 12

Wireless PS2 Controller
Quantity: 1

16 LED NeoPixel Ring
Quantity: 1

5V 10A Power Supply
Quantity: 1

Barrel Jack Adapter
Quantity: 1

AA Batteries
Quantity: 2

F/F Jumper Wires
Quantity: 20 (1 pack)

Mechanical Parts


M3 Heat-Set Inserts
Quantity: 36

M4 Heat-Set Inserts
Quantity: 12

M3 Self-Tapping Screws
Quantity: 96

M3 x 10mm Screw
Quantity: 32

M2 x 8mm Screw
Quantity: 24

M4 x 12mm Screw
Quantity: 8

M3 x 50mm Screw
Quantity: 4

6 x 13mm Ball Bearing
Quantity: 4

M2 Nut
Quantity: 8
<p>does any body know how much the over all cost for this is?</p>
<p>All-in-all I paid(roughly) $100 for Arduino + Servo-controller, $200 for servos, $30 for PLA-filament, ~$70-100 misc, And I'd surely forgotten something so.. Say between $400-500?</p>
<p>Wow, great project documentation! The level of detail and quality are impressive. The design looks pretty robust as well as aesthetically pleasing (darn cool!). The only thing is the battery, and unfortunately walkers with servos tend to be power-hungry. Anyway, good job and thanks for sharing! </p>
<p>so i was wondering is this robot capable of climbing say some stairs and if it is not would it be possible to modify the frame and coding to change it from a quadruped to a hexapod so that i can alter the tilt of the robot to lift the front legs up to walk up stairs or independently move the legs such as lifting the front two legs up onto the step then the second pair then the front onto the next step followed by the final pair and so on</p>
<p>hey toglefritz, i downloaded autodesk fusion 360 but i cant seem to download and access any of your github files</p>
Woah, this looks awesome! Could you add a video of it moving, and how big is it?
<p>do you think it would be possible to add a camera to where the led ring is so if i were to modify it to run off of a battery i could see where it was going without following it?</p>
Hey Exotechmaster55,<br><br>I think putting a camera on the robot would be a great idea. I was actually considering equipping the robot with an FPV system like those used for flying quadcopters. It is possible to get such a system quite inexpensively: https://hobbyking.com/en_us/quanum-complete-fpv-bundle-set-w-goggles-5-8ghz-32ch-video-tx-rx-cp-antennas-and-camera-pnf.html.<br><br>Since these FPV systems are designed for use on RC aircraft, they are designed to run off battery. I am sure it would be relatively straightforward to run the camera system off the robot's battery.
<p>i love this design; very elegant and sleek as opposed to most others. i was contemplating using an onboard battery. i do see your factor about the weight and charging time, and i thought about the possibility of placing some sort of rechargeable pack, in the top of the torso. how could i possibly attach something such as an XBOX controller battery pack onto the back? you can make it removable. you can buy two XBOX battery packs and a charging station for $25. that way you can always have a charged battery. thoughts/ how would i wire the receiver in?</p>
<p>WOW! This is amazing! The rest of us dont stand a chance in the 3d printing contest! How in the world did you make the parts list look like that?!</p>
<p>hey Toglefritz,</p><p>do you know a possibility to add a battery or another portable powersupply?</p><p>cause i really want to make but without mobility i don&acute;t think its useful</p><p>thx</p>
<p>Hi bege1. Yes, it is certainly possible to power the robot with a battery. Lynxmotion, the same company that makes the Botboarduino and the SSC-32 servo controller used in this Instructable, also sells a selection of 6V NiMh batteries suitable for powering the robot: http://www.lynxmotion.com/c-136-nimh-batteries-chargers.aspx. I have not tried powering the robot with a battery because I like the idea of being able to run the robot as long as I want. I think you will have two issues adding a battery to the robot. First, there is not really any extra space for a battery in the design presented in this Instructable so you may need to modify the 3D printed parts a bit. The GitHub repository has the files in IGES format which is editable in Fusion 360 or other CAD programs. The other issue is weight, so you may want to avoid using too heavy a battery to power the robot.</p>
<p>Very impressive, I voted for you. What CAD program did you use?</p>
<p>Hi Nestordane, thank you so much for your vote! I really appreciate it. All of the design work for this project was done in Autodesk Fusion 360. Additionally, all of the assembly animations throughout the Instructable were created using Fusion 360's Animation workspace.</p>
<p>the design looks like WowWee roboquad witch i have 6 of,but will the top head</p>
<p>do you have any video? how loud is it? i noticed hobby servo's are louder than i would prefer :)</p>
<p>can easy add foam to cut the noise (dynomat )</p>
<p>one i would love to see since not good at designing 3D designs is johnny five robot near 2 feet or more and i dont think anyone on instructables has made one</p><p>i know somebody made one ,but selling for a lot,not sharing his stl files</p>
<p>very nice instructable ,i design and build robots have well over 280 robots ,i guess now 281 or so with this one ,only the main control unit is going to change</p><p>i have two 3D printers so printing the parts for me is easy</p>
<p>The &quot;iRobot PET&quot;!! WOW!! It's AMAZING!!</p>
<p>also, how fast is this thing? any videos? </p>
<p>Good job!!!<br><br>Thanks for sharing</p>
<p>I think you should win these contests, this tutorial is awesome, I rarely see these kind of thoroughness. </p>
Superb tutorial. All it needs now is a rotor on each of the legs.....!
<p>Very nice instructable, specially those animated gifs that demonstrates how to connect the parts. I would recommend to explain a bit more how the software makes the robot perform its movements. </p>
<p>Awesome. Very cool !!</p>
<p>awesome tutorial! Thanks for sharing!</p>
<p>Good job man, Very Nice</p>
<p>Clapping!</p>
Wow this is really amazing. <br>Nice tutorial, keep up the good work!

About This Instructable

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Bio: Hello, my name is Toglefritz. That’s obviously not my real name; my real name is Scott, but on the Internet I use the nom ... More »
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