NodeQuad V1

Quadruped project using NodeMCU-32S and MicroPython.

Brief introduction

• This project is about a spider quadruped. The robot can perform multiple gait in MOVE mode, and can rotate and translate with 6DOF in POSE mode.
• Both Remote control and Calibration are done via Wi-Fi on ESP32.
• Brian: NodeMCU-32S (ESP32).
• Actuator: 12 × 20Kg servo.
• Power supply: 3S 2200mAh Lipo battery. mini360 DC-DC bulk for powering ESP32, PCA9685 and MPU6050. 8A UBEC for 12 servos. Check the PCB file for details.
• The body is 3D printed PLA.

Assembly

Fastener

Name	Spec	Required	Note
Screw	M2 * 6mm	48	Servo Steer : 4 x 12
Screw	M2 * 45mm	8	Body Base & Body Top: 2 x 4
Screw	M2.5 * 8mm	48	Servo Mounting: 4 x 12
Screw	M2.5 * 20mm	8	Tiabia Rod: 4 x 2
Screw	M3 * 65mm	8	Femur: 2 x 4
Screw	M3 * 10mm	4	Tip: 1 x 4
Screw	M3 * 12mm	12	Joint Axis: 1 x 12
Nuts	M2	8	Body Base & Body Top: 2 x 4
Nuts (self-locking)	M3	12	Joint Axis: 1 x 12
Bearing	684ZZ	4	Coxa: 1 x 4
Bearing	624ZZ	8	Femur & Tiabia: 4 + 4

Web Controller

Demonstration (Video)

Bilibili: 【四足机器人】贴心！真香警告：18舵机的树莓派六足机器人太贵，UP主连肝数日设计制作12个舵机的ESP32四足机器人NodeQuad
YouTube: Open Source 3D-printed Spider Quadruped robot using ESP32 and MicroPython

Others

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