• Terminal
    Terminal
    An electrical connector acting as reusable interface to a conductor and creating a point where external circuits can be connected.
    natarius
  • Ground
    Ground
    A common return path for electric current. Commonly known as ground.
    jharwinbarrozo
    20.5M
  • Net Portal
    Net Portal
    A net identifier used to create connectivity to other Net Portal with the same designator. #portal
    jharwinbarrozo
    43.0M
  • Power Net Portal
    Power Net Portal
    Power net portal is a special schematic object used to define a power or ground net. Power ports allow you to conveniently indicate a power net at any location in the design. Power nets of the same designator automatically connect throughout your design #portal #power
    jharwinbarrozo
    11.4M
  • Generic Resistor
    Generic Resistor
    A generic fixed resistor for rapid developing circuit topology. Save precious design time by seamlessly add more information to this part (value, footprint, etc.) as it becomes available. Standard resistor values: 1.0Ω 10Ω 100Ω 1.0kΩ 10kΩ 100kΩ 1.0MΩ 1.1Ω 11Ω 110Ω 1.1kΩ 11kΩ 110kΩ 1.1MΩ 1.2Ω 12Ω 120Ω 1.2kΩ 12kΩ 120kΩ 1.2MΩ 1.3Ω 13Ω 130Ω 1.3kΩ 13kΩ 130kΩ 1.3MΩ 1.5Ω 15Ω 150Ω 1.5kΩ 15kΩ 150kΩ 1.5MΩ 1.6Ω 16Ω 160Ω 1.6kΩ 16kΩ 160kΩ 1.6MΩ 1.8Ω 18Ω 180Ω 1.8KΩ 18kΩ 180kΩ 1.8MΩ 2.0Ω 20Ω 200Ω 2.0kΩ 20kΩ 200kΩ 2.0MΩ 2.2Ω 22Ω 220Ω 2.2kΩ 22kΩ 220kΩ 2.2MΩ 2.4Ω 24Ω 240Ω 2.4kΩ 24kΩ 240kΩ 2.4MΩ 2.7Ω 27Ω 270Ω 2.7kΩ 27kΩ 270kΩ 2.7MΩ 3.0Ω 30Ω 300Ω 3.0KΩ 30KΩ 300KΩ 3.0MΩ 3.3Ω 33Ω 330Ω 3.3kΩ 33kΩ 330kΩ 3.3MΩ 3.6Ω 36Ω 360Ω 3.6kΩ 36kΩ 360kΩ 3.6MΩ 3.9Ω 39Ω 390Ω 3.9kΩ 39kΩ 390kΩ 3.9MΩ 4.3Ω 43Ω 430Ω 4.3kΩ 43KΩ 430KΩ 4.3MΩ 4.7Ω 47Ω 470Ω 4.7kΩ 47kΩ 470kΩ 4.7MΩ 5.1Ω 51Ω 510Ω 5.1kΩ 51kΩ 510kΩ 5.1MΩ 5.6Ω 56Ω 560Ω 5.6kΩ 56kΩ 560kΩ 5.6MΩ 6.2Ω 62Ω 620Ω 6.2kΩ 62KΩ 620KΩ 6.2MΩ 6.8Ω 68Ω 680Ω 6.8kΩ 68kΩ 680kΩ 6.8MΩ 7.5Ω 75Ω 750Ω 7.5kΩ 75kΩ 750kΩ 7.5MΩ 8.2Ω 82Ω 820Ω 8.2kΩ 82kΩ 820kΩ 8.2MΩ 9.1Ω 91Ω 910Ω 9.1kΩ 91kΩ 910kΩ 9.1MΩ #generics #CommonPartsLibrary
    jharwinbarrozo
    1.5M
  • Generic Capacitor
    Generic Capacitor
    A generic fixed capacitor for rapid developing circuit topology. Save precious design time by seamlessly add more information to this part (value, footprint, etc.) as it becomes available. Standard capacitor values: 1.0pF 10pF 100pF 1000pF 0.01uF 0.1uF 1.0uF 10uF 100uF 1000uF 10,000uF 1.1pF 11pF 110pF 1100pF 1.2pF 12pF 120pF 1200pF 1.3pF 13pF 130pF 1300pF 1.5pF 15pF 150pF 1500pF 0.015uF 0.15uF 1.5uF 15uF 150uF 1500uF 1.6pF 16pF 160pF 1600pF 1.8pF 18pF 180pF 1800pF 2.0pF 20pF 200pF 2000pF 2.2pF 22pF 20pF 2200pF 0.022uF 0.22uF 2.2uF 22uF 220uF 2200uF 2.4pF 24pF 240pF 2400pF 2.7pF 27pF 270pF 2700pF 3.0pF 30pF 300pF 3000pF 3.3pF 33pF 330pF 3300pF 0.033uF 0.33uF 3.3uF 33uF 330uF 3300uF 3.6pF 36pF 360pF 3600pF 3.9pF 39pF 390pF 3900pF 4.3pF 43pF 430pF 4300pF 4.7pF 47pF 470pF 4700pF 0.047uF 0.47uF 4.7uF 47uF 470uF 4700uF 5.1pF 51pF 510pF 5100pF 5.6pF 56pF 560pF 5600pF 6.2pF 62pF 620pF 6200pF 6.8pF 68pF 680pF 6800pF 0.068uF 0.68uF 6.8uF 68uF 680uF 6800uF 7.5pF 75pF 750pF 7500pF 8.2pF 82pF 820pF 8200pF 9.1pF 91pF 910pF 9100pF #generics #CommonPartsLibrary
    jharwinbarrozo
    1.5M
  • Generic Inductor
    Generic Inductor
    A generic fixed inductor for rapid developing circuit topology. *You can now change the footprint and 3D model at the top level anytime you want. This is the power of #generics
    jharwinbarrozo
    14.4k
  • RMCF0805JT47K0
    RMCF0805JT47K0
    47 kOhms ±5% 0.125W, 1/8W Chip Resistor 0805 (2012 Metric) Automotive AEC-Q200 Thick Film #forLedBlink
    jharwinbarrozo
    1.2M
  • 875105359001
    875105359001
    10uF Capacitor Aluminum Polymer 20% 16V SMD 5x5.3mm #forLedBlink #commonpartslibrary #capacitor #aluminumpolymer #radialcan
    jharwinbarrozo
    1.2M
  • CTL1206FYW1T
    CTL1206FYW1T
    Yellow 595nm LED Indication - Discrete 1.7V 1206 (3216 Metric) #forLedBlink
    jharwinbarrozo
    1.1M
IMU 1
What are these for?
lwcassid

lwcassid

That's correct!
4y
fancie419491

fancie419491

These 5 LEDs indicate the battery status.

1

4y
natarius

natarius

What are these for?

1

4y
Someone is typing...
@lwcassid - good choice of servos you've got here!
jharwinbarrozo

jharwinbarrozo

@lwcassid - good choice of servos you've got here!

1

4y
Someone is typing...
4
create a high level mermaid block diagram of this project. Include key component...
lifeminder4u

lifeminder4u

@copilot create a high level mermaid block diagram of this project. Include key component's manufacturer part number in each block whenever possible.
1y

copilot

Creating a high-level block diagram for your DIY Quadruped Robot project is a great idea to visualize how your system components are interconnected. Below is a simplified representation in the format suitable for Mermaid, which is a markdown-like script language for generating diagrams from text.
Given that not all components have manufacturer part numbers (MPN) visible in the project description, I'll include them where available and identify others by their designator or description for clarity.
Please note that for complex projects like this, a full detailed schematic diagram is necessary for precise electrical connections, but this high-level overview will give you an idea of the major component interactions.
Please adjust or specify further details as needed. This diagram provides a high-level overview but does not capture detailed wiring specifics, voltage levels, or other low-level connections essential for actual construction.
1y
Someone is typing...
5
@lwcassid looks like this is a voltage divider going to the voltage sense of ard...
lwcassid

lwcassid

@jharwinbarrozo correct, this will measure the voltage of the battery, so the Arduino would know if it’s time for recharge.
4y
jharwinbarrozo

jharwinbarrozo

@lwcassid looks like this is a voltage divider going to the voltage sense of arduino

1

4y
Someone is typing...
3
R1
Resistance
500 Ω
S1
R2
Resistance
500 Ω
LED 1
R3
Resistance
500 Ω
R5
Resistance
500 Ω
LED 2
LED 3
LED 4
LED 5
R6
Resistance
500 Ω
Arduino Mega

DIY Quadruped Robot

DIY Quadruped Robot
Description

Created
Last updated by lwcassid
5 Contributor(s)
lwcassid
jharwinbarrozo
purple-san-hill
coral-dud-bolt
bronze-watto

Controls

Properties

Availability & Pricing

DistributorQty 1

Assets

Simulation

µs

Simulation Speed

Quadruped Robot Circuit Design

serafinneri

serafinneri

create a circuit of quadruped legged robot

copilot

Using

General
Project
Could you clarify what you mean by "create a circuit of quadruped legged robot"? For example:
  1. Are you looking to design a control circuit for the 12 servos (using the Arduino Mega or Raspberry Pi 4B) that actuate the legs?
  2. Do you need a schematic for the power supply section including the buck converter and battery management?
  3. Would you like a high-level block diagram or a detailed circuit schematic connecting sensors, motor drivers, and controllers?
Let me know which aspects you’d like to focus on so I can provide the best guidance.
Control circuit focus
Power supply design
Integration block diagram
serafinneri

serafinneri

a design that control circuit for the 12 servo motor using esp32

copilot

Using

General
Chat History
Project
Below is one example design approach for a control circuit for 12 servo motors driven by an ESP32:
1. Core Components

Table

ComponentDescriptionLink/Reference
ESP32A microcontroller with built-in Wi‑Fi/Bluetooth and multiple PWM outputs. It will generate the PWM control signals for the servos.ESP32-WROOM-32
12 Servo MotorsDigital servos (for example, the DS3218 PRO) which receive a PWM pulse to control position. Make sure the servos’ control interface is compatible with 3.3V logic if connected directly.High Speed Servo DS3218 PRO (or another suitable servo)
Buck Converter (or Regulator)Provides a regulated 5V (or specified voltage) supply for the servos since they typically require higher current than the ESP32 can deliver.Buck Converter
2. Circuit Design Considerations
  • Power Supply Distribution:
    • Use the buck converter to step down the battery (or unregulated supply) voltage to 5V. This 5V rail supplies all servo motor VCC lines.
    • Ensure the power supply can handle the combined peak current of all 12 servos.
  • Signal Interface:
    • The ESP32’s available PWM outputs (up to 16 channels) are used to drive each servo’s control (signal) line directly.
    • Although ESP32 outputs operate at 3.3V, many servos interpret 3.3V logic pulses correctly. If in doubt, consider using a level shifter on the servo signal lines.
  • Common Grounds:
    • The grounds of the ESP32, buck converter, and servo supply must be connected together to provide a common reference.
  • Decoupling & Filtering:
    • Add a decoupling capacitor (for example, a 100nF or a 10µF capacitor) near the ESP32’s power pins.
    • Place a bulk capacitor on the 5V line coming from the buck converter to help smooth out transient loads when many servos operate concurrently.
  • Wiring & Layout:
    • Route the 5V and ground traces with considerations for high current paths.
    • Keep PWM signal traces short and separated from power traces to minimize noise.
3. Schematic Connection Overview

Table

Connection DescriptionFromTo
Servo Power SupplyBuck Converter 5V outputAll servo VCC lines
Control SignalESP32 PWM outputs (one per servo, e.g., GPIO pin x, y, etc.)Servo control input
Common GroundGround of Buck Converter, ESP32, and ServosConnect all grounds together
4. Design Implementation Tips
  1. Component Placement:
    • Place the ESP32 centrally so that all PWM signal traces to the servos are as short as possible.
    • Locate the buck converter close to the servo drivers to minimize voltage drop on the 5V rail.
  2. Power Rating Verification:
    • Check the datasheet for the selected servos to ensure the 5V (or required) supply can deliver the current without voltage sag.
    • Confirm with the ESP32 datasheet that its PWM outputs have the drive capability or use buffering if needed.
  3. Firmware:
    • Use ESP32’s hardware PWM peripherals to generate the required 1–2 ms pulse widths (typically with a refresh period of ~20 ms) for standard servo control.
    • Consider writing or using a library that handles multiple PWM channels.
5. Extending the Design
  • Optional Servo Driver IC:
    If you find the ESP32 directly might be limited or want to free up processing resources, consider adding a dedicated servo driver (e.g., PCA9685) which communicates via I²C. This method offloads the PWM generation to specialized hardware while still using the ESP32 for overall control.
This conceptual circuit design covers the basic principles and interconnections. Should you need a more detailed schematic or PCB layout guidelines, let me know which aspects you’d like to expand further.
Calculate servo current
Recommend buck converter
Consider level shifting
Evaluate PCA9685 option
serafinneri

serafinneri

Create a circuit diagram like in the image. A spider quadruped robot powered by a ESP32 with 1 XL4015 Buck Converter that is connected to Vin of esp32 board, and 2 L298n dc motor driver which connected to XL4015 Buck Converter and a 3.7V Lipo Rechargeable Lithium Battery connected to XL4015 Buck Converter. Make the 1st servo motor in D32 pin, 2nd servo motor in D33 pin, 3rd servo motor in D25 pin of esp32 board for 1st leg. For 2nd leg of the robot, assigned the 4th servo motor in D14 pin, 5th servo motor in D12 pin, 6th servo motor in D13 pin of esp32 board. For 3rd leg of the robot, 7th servo motor in D22 pin, 8th servo motor in TX0 pin, 9th servo motor in RX0 pin of esp32 board. For 4th leg, 10th servo motor in RX2 pin, 11th servo motor in D4 pin, 12th servo motor in D2 pin of esp32 board.

copilot

Using

General
Chat History
Project
Below is one way to represent the circuit connections in a tabular format. This design connects a 3.7 V LiPo battery through an XL4015 buck converter to provide a regulated 5 V rail. That 5 V rail powers the ESP32 (via its Vin input) as well as two L298n DC motor drivers. In addition, 12 servo motors (one per joint in the spider‐quadruped robot) are connected to specific ESP32 digital pins for their PWM control signals. All subsystems share a common ground.
Power & Supply Section

Table

Connection DescriptionFromToNotes
Battery Supply3.7V LiPo BatteryXL4015 Buck Converter – InputThe LiPo battery supplies raw voltage to the buck converter.
Voltage RegulationXL4015 Buck Converter – Output (5 V rail)ESP32 – VinThe regulated 5 V output is fed into the ESP32’s Vin (the onboard regulator can then create the proper core voltages if needed).
Powering Motor DriversXL4015 Buck Converter – Output (5 V rail)Both L298n DC Motor Driver modules – Vcc pinsThe same 5 V rail supplies the L298n modules that drive the DC motors.
Common GroundBattery, Buck Converter, ESP32, L298n modulesAll devices (including servos)Connect all GND nodes together to form a common reference.
Servo Control Subsystem
Each servo’s control (signal) pin is driven by a dedicated ESP32 digital (PWM) output. The servo’s power is assumed to be supplied from the common regulated 5 V rail (or via its separate power supply, as needed, with a common ground).

Table

Leg NumberServo NumberESP32 PinFunction
Leg 1Servo 1D32PWM control signal for servo 1
Servo 2D33PWM control signal for servo 2
Servo 3D25PWM control signal for servo 3
Leg 2Servo 4D14PWM control signal for servo 4
Servo 5D12PWM control signal for servo 5
Servo 6D13PWM control signal for servo 6
Leg 3Servo 7D22PWM control signal for servo 7
Servo 8TX0PWM control signal for servo 8
Servo 9RX0PWM control signal for servo 9
Leg 4Servo 10RX2PWM control signal for servo 10
Servo 11D4PWM control signal for servo 11
Servo 12D2PWM control signal for servo 12
L298n DC Motor Driver Section
For the two L298n motor driver boards:

Table

Connection DescriptionFromToNotes
Motor Driver VccXL4015 Buck Converter – Output (5 V)L298n module – Vcc pinsBoth L298n modules take the same 5 V rail from the buck converter.
Control Signals for DC MotorsESP32 digital outputs (pins as per your motor control design)L298n IN/EN pinsUse additional ESP32 digital pins to drive the DC motor drivers.
Note: The exact control pin assignments for each L298n depend on your DC motor control strategy.
Summary Schematic Overview
  • The 3.7 V LiPo battery feeds the XL4015 Buck Converter, which outputs a regulated 5 V supply.
  • The 5 V rail powers:
    • The ESP32 via its Vin pin.
    • Both L298n motor driver modules.
    • (Optionally) the servo power lines (if they are designed for 5 V operation – note many servos are rated for 4.8–6 V).
  • The ESP32 sends PWM signals to 12 servo motors with the following pin assignments:
    • 1st leg: Servo 1 (D32), Servo 2 (D33), Servo 3 (D25)
    • 2nd leg: Servo 4 (D14), Servo 5 (D12), Servo 6 (D13)
    • 3rd leg: Servo 7 (D22), Servo 8 (TX0), Servo 9 (RX0)
    • 4th leg: Servo 10 (RX2), Servo 11 (D4), Servo 12 (D2)
  • Common ground ties all devices together for a unified reference.
This tabulated description serves as a guide for laying out the schematic in your EDA tool. If you need further details (such as decoupling capacitor placements or specific wiring tips), please let me know.
Decoupling capacitor advice
Servo power supply confirmation
L298n control signals
Checks that the power traveling across a given resistor is under its rating with 50% headroom.
Learn more
Checks that IC pins that require pull up or pull down resistors have them.
Learn more
Checks that capacitors have appropriate voltage ratings to prevent overheating and ensure reliable circuit operation.
Checks that all parts have a part number and are available from distributors.
Reports issues with Auto-Layout if Copilot cannot route something or must ignore a configuration.
Reports copper elements that are shorting.
Reports nodes that are assigned to a layer that doesn't exist in the layout stackup.
Reports components that have been modified using the "!important" flag.
Reports terminals that are not connected properly. NOTE: Only connections to the center of pads are considered valid.
Reports nodes that are using rules that are not supported anymore.
Reports layers that have multiple copper fills of different nets. Make sure the Connected Layers rule value of nets with fills is valid.
Detect any via, trace or copper fill island that is not connected to any net.