This Instructable will show you how to build a quadruped robot from scratch using 3D printed parts and off-the-shelf electronic components.
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.
Since the quadruped can articulate each of its four legs with three degrees of freedom, it has a highly flexible range of motion.
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.
The robot is controlled with a wireless third-party Playstation 2 controller.
We will need the parts below to complete the build, along with some general-purpose materials like solder and hot glue.
SSC-32 Servo Controller
Hitec HS-645MG Servo
Wireless PS2 Controller
16 LED NeoPixel Ring
5V 10A Power Supply
Barrel Jack Adapter
F/F Jumper Wires
Quantity: 20 (1 pack)
M3 Heat-Set Inserts
M4 Heat-Set Inserts
M3 Self-Tapping Screws
M3 x 10mm Screw
M2 x 8mm Screw
M4 x 12mm Screw
M3 x 50mm Screw
6 x 13mm Ball Bearing