Introduction: How to Create a Robotic Dog With 9G Servos
This is a Robotic Dog inspired by Boston Dynamic's Spotmini, but this time on a much smaller scale. This version of the robotic dog is created with a dozen Servos and some other components such as an Ardurino Nano.
You can find a great instructable covering how to create your own Servo Tester here:
Step 1: Arrangement of Servos & Kinematics
It is best if the Servos are arranged at 90° and then mounted on the "legs".
All Legs = 48mm
Shoulder to Shoulder Pivot = 40mm (Left to Right)
Shoulder to Shoulder Pivot = 80mm (Front to Back)
With 90° being centered and perpendicular when assembled:
Shoulder Pivot +/-17.5° (Left/Right)
Shoulder Pivot +40.0°/-46.5° (Front/Back)
Knee Pivot: +70°/-73° (Front/Back)
Step 2: BOM & STL Files
(1) Arduino Nano (Headless)
(1) 16ch PWM driver
(12) Tower Hobby 9g servo
(2) Frame-Vertical Pivot
(6) Frame-Stiffener Vertical
(6) Frame-Stiffener Horizontal
(4) Shoulder Pivot
(2) Leg-Upper LH
(2) Leg-Upper RH
(2) Driver Support
(1) Nano Support
The Stls can be found here:
Full Credits to Design Cells for releasing the Stl files on Thingiverse; I didn't Design this myself.
Step 3: Done!!!
The code has yet to be released yet, but I'm sure that it'll be released soon. If anybody knows how to code, please relate to the original author.
Participated in the