Ez Arduino MiniKame Mk2 - Making a 8 DOF 3D Print Quadruped Robot


Introduction: Ez Arduino MiniKame Mk2 - Making a 8 DOF 3D Print Quadruped Robot

About: We love robotics!

This is an inexpensive 3D printed 8 DOF quadruped robot using Arduino kind control board. It has two playing modes. One is autonoumose pilot mode which the robot walks and performs action randomly. The other is control mode where the robot is controlled by iPhone or Android phone via BLE technology.

This instructable page contains detail of steps in sequence of videos to people who are interested to build one.

Step 1: Printing 3D Models

You can download the 3D printed STL models here. Those samples are printed in PLA. Suggested parameters for slicing the models to print are as followings. You may adjust them to fit the 3D printer you're using.

  • bottom/top thickness: 1mm
  • shell thickness: 1.2mm
  • layer height: 0.2mm
  • fill density: 10%
  • support: yes
  • adhesion type: skirt or brim

If you don't have a 3D printer, you may find online 3D print service.

Step 2: Software

flashing the Arduino code by open firmware.ino in the Arduino Software, see step 10 on IOS app and step 11 on Android app to control the robot

Step 3: Electronics Components

    The electronic components can be found in online store such as ebay, amazon, aliexpress and etc.

    • a HuaDuino board, it is Arduino Nano compatible with enhanced features. It integrates everything on a single PCB. It's a lot easier for people to make a bot with it. Embedded battery charging circuit, battery charging is more convenient.
    • a single 3.7V 18650 lithium ion battery or battery pack with XH2.54 connector, if you want longer running time getting a pack with two 18650 in parallel. However, it is also fine to use 3.7V 10440 lithium ion and 3.7V lithium polymer battery dimension not bigger than W35mm, L70mm & T60mm. The photo is with two 10440 lithium batteries in parallel.
    • 8 x Tower Pro SG90 or compatible 9g servos.
    • a CC2540 Bluetooth BLE module - this is optional if you don't need App control. Baud rate is required to set to 115200. For iOS app, the service UUID must set to 0xDFB0 and characteristic must set to 0xDFB1. Below is the code to do that automatically. Attached is the reference of the AT command set to configure CC2540.
    • a female-female dupoint wire or anything you can figure out for connecting two pins
    • some m2x6 tapping screws

    The following Arduino code issues AT commands setting BLE module UUID, characteristic and baud rate, assuming the BLE default baud rate is 9600. For running this program in HuaDuino with the module onto it, the S1 switch must be set to the BT position.

    void setup() {
      Serial.begin(9600); //change to fit your ble initial baud_rate
      Serial.println("AT+UUID0xDFB0\r"); // uuid
      Serial.println("AT+CHAR0xDFB1\r"); // characteristic
      Serial.println("AT+BAUD8\r"); // set baud rate to 115200
    void loop() {}

    Step 4: Installation of Servos and the Control Board

    Step 5: Legs

    Step 6: Servo Wiring

    Connection to digital pins of HuaDuino are as followings:

    • D2 to front right hip servo
    • D3 to front right leg servo
    • D4 to back right hip servo
    • D5 to back right leg servo
    • D6 to back left hip servo
    • D7 to back left leg servo
    • D8 to front left hip servo
    • D9 to front left leg servo

    Step 7: Calibration

    Using a du-point wire between D12 and 3.3V pin, the robot servos will be set to default angle and in stance position. This is the status for installing servos and having servo arm capping on the correct angle.

    Step 8: Installation of Servo Arms

    while the du-point wire connected between D12 and 3.3V pin, puts the servo arms to the servo shaft

    Step 9: Finishing Up

    insert the CC2540 Bluetooth BLE module to the board's Bluetooth connector, and slide the S1 switch to the BT side, finally closes the robot with the top cover.

    Step 10: Plays Using IPhone

    • opens the iOS app and closes it the robot,
    • after few seconds the BLE paring between the robot and iPhone should be done. You will see the connection symbol changed to green.
    • press the top middle virtual button will switch the robot to control mode, and press again will turn back to autonomous self walking mode.

    Step 11: Plays Using Android Phone

    • open the Android app while robot is on pressing the connection symbol closed the top edge.
    • after few seconds you should see listed BLE device and
    • select it and connection symbol should turn to blue when successes
    • press the top middle virtual button it will switch to control mode and press again it will back to autonomous self walking mode

    Step 12: Battery Charging

    • plugs a 5V power source micro USB cable to the robot USB port
    • a red light indicates charging
    • a green light indicates charging completed

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      1 Questions



      did i miss the App-Part for Android? So ... where can i get the App?

      This is a awsome, cute and one of the best beginner quad-pods i've ever seen :)

      Got my vote!

      See the step 2 software, there is a link to Google Play to download it.


      Just ordered all (missing) parts and started to print.

      This will be a great toy :)

      1 reply

      great! let's know if you have any problems.