# DIY Quadruped Robot ## Description A 3D printed 4 legged robot, that looks like Boston Dynamics Spot but moves like a newborn. Originally created by Miguel Ayuso Parrilla on Hackaday. ## Project Details - **Owner:** omnikage - **Created:** 8/25/2021 - **Last Updated:** 8/25/2021 - **Visibility:** Public - **Forks:** 13 ## Key Components ### ? — [Buck Converter](https://www.flux.ai/jharwinbarrozo/buck-converter.md) - Price: 1.89$ - Source: https://www.amazon.com/HiLetgo-DC-DC-Module-Charger-Arduino/dp/B01HXU1C6U **Pins:** - GND - GND - OUT - VIN ### ? — Multi Cell Battery - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Max Voltage per cell: 4.2V - Number of Cell: 2 - Price: 26.99$ **Pins:** - ANODE - CATHODE ### ? — Multi Cell Battery - Number of Cell: 2 - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Max Voltage per cell: 4.2V - Price: 26.99$ **Pins:** - ANODE - CATHODE ### ? — Multi Cell Battery - Price: 26.99$ - Number of Cell: 2 - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Max Voltage per cell: 4.2V **Pins:** - ANODE - CATHODE ### ? — Multi Cell Battery - Price: 26.99$ - Max Voltage per cell: 4.2V - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Number of Cell: 2 **Pins:** - ANODE - CATHODE ### ? — Multi Cell Battery - Price: 26.99$ - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Max Voltage per cell: 4.2V - Number of Cell: 2 **Pins:** - ANODE - CATHODE ### ? — Multi Cell Battery - Price: 26.99$ - Max Voltage per cell: 4.2V - Source: https://www.amazon.com/dp/B083XK5HDG/ref=cm_sw_r_tw_dp_x_F-hKFbDM99M0Y - Number of Cell: 2 **Pins:** - ANODE - CATHODE ### Arduino Mega — [Arduino Mega 2560 Rev3](https://www.flux.ai/jharwinbarrozo/arduino-mega-2560-rev3.md) - : https://www.amazon.com/gp/product/B0046AMGW0/ref=ppx_od_dt_b_asin_title_s00?ie=UTF8&psc=1 - Price: $34.00$ USD **Pins:** - 3V3 - 5V - 5V - 5V - A0 - A1 - A10 - A11 - A12 - A13 - A14 - A15 - A2 - A3 - A4 - A5 - A6 - A7 - A8 - A9 - AREF - D1 / TX0 - D10 - D11 - D12 - D13 - D14 / TX3 - D15 RX3 - D16 / TX2 - D17 / RX2 - D18 / TX1 - D19 / RX1 - D2 - D2 / RX0 - D20 / SDA - D20 / SDA - D21 / SCL - D21 / SCL - D22 - D23 - D24 - D25 - D26 - D27 - D28 - D29 - D3 - D30 - D31 - D32 - D33 - D34 - D35 - D36 - D37 - D38 - D39 - D4 - D40 - D41 - D42 - D43 - D44 - D45 - D46 - D47 - D48 - D49 - D5 - D50 - D51 - D52 - D53 - D6 - D7 - D8 - D9 - DATA + - DATA- - GND - GND - GND - GND - GND - GND - GND - IOREF - MISO - MOSI - NC - RESET - RESET - SCK - VCC - VCC - VIN ### IMU 1 — [IMU](https://www.flux.ai/lwcassid/imu.md) - Source: https://www.amazon.com/gp/product/B01DK83ZYQ/ - Price: 3.99$ **Pins:** - 3.3V - GND - SCL - SDA ### LED 1 — [LED](https://www.flux.ai/jharwinbarrozo/led-tht.md) - Series Resistance: 0.42Ω - Price: 6.58$ - Saturation Current: 93.2e-12A - Package: Combo Package - Breakdown Voltage: 0V - Forward Voltage: 1.70 - Source: https://www.amazon.com/Gikfun-Resistor-Experiment-Raspberry-Arduino/dp/B01G3FCMVA - Emission Coefficient: 3.73 **Pins:** - ANODE - CATHODE ### LED 2 — [LED](https://www.flux.ai/jharwinbarrozo/led-tht.md) - Forward Voltage: 1.70 - Emission Coefficient: 3.73 - Source: https://www.amazon.com/Gikfun-Resistor-Experiment-Raspberry-Arduino/dp/B01G3FCMVA - Series Resistance: 0.42Ω - Price: 6.58$ - Breakdown Voltage: 0V - Package: Combo Package - Saturation Current: 93.2e-12A **Pins:** - ANODE - CATHODE ### LED 3 — [LED](https://www.flux.ai/jharwinbarrozo/led-tht.md) - Forward Voltage: 1.70 - Source: https://www.amazon.com/Gikfun-Resistor-Experiment-Raspberry-Arduino/dp/B01G3FCMVA - Emission Coefficient: 3.73 - Price: 6.58$ - Series Resistance: 0.42Ω - Saturation Current: 93.2e-12A - Package: Combo Package - Breakdown Voltage: 0V **Pins:** - ANODE - CATHODE ### LED 4 — [LED](https://www.flux.ai/jharwinbarrozo/led-tht.md) - Forward Voltage: 1.70 - Source: https://www.amazon.com/Gikfun-Resistor-Experiment-Raspberry-Arduino/dp/B01G3FCMVA - Emission Coefficient: 3.73 - Price: 6.58$ - Series Resistance: 0.42Ω - Saturation Current: 93.2e-12A - Package: Combo Package - Breakdown Voltage: 0V **Pins:** - ANODE - CATHODE ### LED 5 — [LED](https://www.flux.ai/jharwinbarrozo/led-tht.md) - Series Resistance: 0.42Ω - Price: 6.58$ - Saturation Current: 93.2e-12A - Package: Combo Package - Breakdown Voltage: 0V - Forward Voltage: 1.70 - Source: https://www.amazon.com/Gikfun-Resistor-Experiment-Raspberry-Arduino/dp/B01G3FCMVA - Emission Coefficient: 3.73 **Pins:** - ANODE - CATHODE ### ON/OFF switch — [SPST Switch](https://www.flux.ai/jharwinbarrozo/spst-switch.md) - Price: 8.66$ - Source: https://www.amazon.com/mxuteuk-Household-Appliances-Warranty-MXU3-103/dp/B07QQ22DTB **Pins:** - P1 - P2 ### Raspberry Pi 4B — [Raspberry Pi 4B](https://www.flux.ai/lwcassid/null.md) **Pins:** - 10/100 LAN Port - 3V3 - 3V3 - 5V - 5V - 5V - 5V - 5V IN - DATA - - DATA - - DATA + - DATA + - DSI Display Port - GND - GND - GND - GND - GND - GND - GND - GND - GND - GND - GND - GPIO 0 (ID_SD) - GPIO 1 (ID_SC) - GPIO 10 (MOSI) - GPIO 12 (PWM0) - GPIO 13 (PWM1) - GPIO 14 (TXD) - GPIO 15 (RXD) - GPIO 16 - GPIO 17 - GPIO 18 (PCM_CLK) - GPIO 19 (PCM_FS) - GPIO 2 (SDA) - GPIO 20 (PCM_DIN) - GPIO 21 (PCM_DOUT) - GPIO 22 - GPIO 23 - GPIO 24 - GPIO 25 - GPIO 26 - GPIO 27 - GPIO 3 (SCL) - GPIO 4 (GPCLK0) - GPIO 5 - GPIO 6 - GPIO 7 (CE1) - GPIO 8 (CE0) - GPIO 9 (MISO) - GPIO11 (SCLK) - HDMI - Micro USB ### S1 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S10 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT - Price: 16.99$ **Pins:** - GND - PWM - VCC ### S11 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT - Price: 16.99$ **Pins:** - GND - PWM - VCC ### S12 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S2 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S3 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT - Price: 16.99$ **Pins:** - GND - PWM - VCC ### S4 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S5 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT - Price: 16.99$ **Pins:** - GND - PWM - VCC ### S6 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S7 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT - Price: 16.99$ **Pins:** - GND - PWM - VCC ### S8 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### S9 — [High Speed Servo DS3218 PRO](https://www.flux.ai/lwcassid/high-speed-servo-ds3218-pro.md) - Price: 16.99$ - Source: https://www.amazon.com/Miuzei-Torque-Digital-Waterproof-Control/dp/B07HNTKSZT **Pins:** - GND - PWM - VCC ### UBEC — [Regulator](https://www.flux.ai/lwcassid/regulator.md) - Source: https://www.amazon.com/HENGE-Output-Inport-7V-25-5V-Switch/dp/B0868NXP1V - Price: 16.66$ **Pins:** - GND - GND1 - IN - OUT ### UBEC — [Regulator](https://www.flux.ai/lwcassid/regulator.md) - Source: https://www.amazon.com/HENGE-Output-Inport-7V-25-5V-Switch/dp/B0868NXP1V - Price: 16.66$ **Pins:** - GND - GND1 - IN - OUT ### UBEC — [Regulator](https://www.flux.ai/lwcassid/regulator.md) - Source: https://www.amazon.com/HENGE-Output-Inport-7V-25-5V-Switch/dp/B0868NXP1V - Price: 16.66$ **Pins:** - GND - GND1 - IN - OUT ### UBEC — [Regulator](https://www.flux.ai/lwcassid/regulator.md) - Source: https://www.amazon.com/HENGE-Output-Inport-7V-25-5V-Switch/dp/B0868NXP1V - Price: 16.66$ **Pins:** - GND - GND1 - IN - OUT *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/omnikage/diy-quadruped-robot](https://www.flux.ai/omnikage/diy-quadruped-robot).* --- *Generated from [https://www.flux.ai/omnikage/diy-quadruped-robot](https://www.flux.ai/omnikage/diy-quadruped-robot)*