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4T-POM-X4

An open-source 12-degree-of-freedom quadruped robot designed for learning, development, and secondary innovation.

  • Quadruped
  • Open source
  • 3D printable

Suggested by Robotheca, created by @4T-tech (opens in a new tab), from github.com/4T-tech/4T_POM_X4_robot (opens in a new tab). Pinned to commit 98cb955 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
GPL-3.0-only (opens in a new tab)
Software license
GPL-3.0-only (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script, 1 program or installer, 11 firmware images)

Photo and 3D model

4T-POM-X4, photo from its repository
Photo:@4T-tech (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)

3D preview converted from github.com/4T-tech/4T_POM_X4_robot at 98cb955, under GPL-3.0-only. View the original files from GitHub (2.6 MB) (opens in a new tab)

Degrees of freedom
12

What it can do

Written by Robotheca from the project's documents.

  • Walks with slow and trot gaits
  • Adjusts standing posture
  • Moves forward, backward, sideways and turns
  • Controlled via Bluetooth app or PC upper computer

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare 3D printed parts
  2. 2Assemble mechanical components
  3. 3Install control modules and servo drivers
  4. 4Upload firmware
  5. 5Connect and test with Bluetooth app

The guide appears here as you scroll.

Guide by @4T-tech (README.md), under GPL-3.0-only. The English translation is by Robotheca, shared under the same license.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • POM_Nano_G4, POM_Nano_C6 or POM_Nano_RP control module
  • 32-channel servo driver board (POM_SC32)
  • Twelve high-speed hollow-cup servos
  • Bluetooth module for app control

Connections

  • Servo driver board connected to control module via TTL serial
  • Servo driver board powered from 3S/4S/5S Li-ion battery