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Machine-translated by Robotheca from the original in Chinese (opens in a new tab). License: GPL-3.0-only (opens in a new tab).

4T-POM-X4/4T Quadruped Robot Development Kit

Preview of the 4T quadruped robot development kit

Model: 4T-POM-X4

Introduction to the Quadruped Robot Development Kit

The 4T quadruped robot development kit is developed based on three core control modules: POM_Nano_G4, POM_Nano_C6, and POM_Nano_RP (compatible with all three models), combined with a 32-channel servo control board (POM_SC32). It features 12 degrees of freedom with high-performance motion capabilities. The body is made of high-strength, lightweight PETG structure, equipped with 12 high-speed, high-performance coreless servos. Paired with the linkage-structured legs, it offers flexible and rich movements. Built-in inverse kinematics analysis, standing posture control, gait control, and other algorithms make it easy to achieve posture adjustment and movement modes such as slow walking and trotting. It supports functions like forward/backward movement, turning, and lateral movement.

The kit supports quick setup via a PC-based GUI and a Bluetooth app for smartphones.

Core Components

File Structure

  • [1] Control Algorithm and Firmware: 4T quadruped robot development kit firmware source code project

    • Dog_Control_SDK_G4: Robot control firmware project developed based on the POM_Nano_G4 core control module
    • Dog_Control_SDK_C6: Robot control firmware project developed based on the POM_Nano_C6 core control module
    • Dog_Control_SDK_RP: Robot control firmware project developed based on the POM_Nano_RP core control module
    • Quadruped Robot Firmware Library User Guide: Explanation of core algorithms such as inverse kinematics analysis, standing posture control, and gait control (slow walking/trotting)

  • [2] Robot Model: Microcontroller design and development training guide supporting examples

    • 3D Printing Files: 3mf format printable files, ready for direct printing
    • Part Source Files: stp format files, including robot components such as thighs, calves, and body
    • Assembly File: stp format file, showing the assembly relationship of all robot parts
    • Model Preview Image

  • [3] Hardware Design PCB

    Hardware design PCB files for the robot's universal expansion board and XT30 battery interface board.

    • BOM
    • Gerber
    • image: Preview images of the robot's universal expansion board and XT30 battery interface board
    • PCB: Engineering files

  • [4] Bluetooth App

    • 4T-POM-X4_Ctrl_app.apk: Android APK file, ready for direct installation and use
    • 4T-POM-X4_Ctrl_demo.aia: App Inventor project file
    • Quadruped Robot Bluetooth App Usage and Development Guide: Steps to connect the app to the robot, functions of control buttons, and DIY guide

  • [5] Bill of Materials

    • 3D Printing Parts List.xlsx: Names, quantities, and recommended materials (PETG) for each printed part
    • Component List.xlsx: Specifications and quantities of components such as 12 coreless servos, POM_Nano control module, and POM_SC32 PCB board
    • Hardware List.xlsx: Specifications and quantities of screws, nuts, and other hardware

  • [6] Assembly Guide

    • Quadruped Robot Installation Manual: Instructions for assembling the robot's body

  • [7] Images: Attachments

Ordering Channels

① Official Taobao: gxct.taobao.com (opens in a new tab)

② 4T Mall: https://www.4t.wiki/mall (opens in a new tab)

③ Official JD: https://mall.jd.com/index-16359606.html (opens in a new tab)

Learning Resource Access

Files by @4T-tech, at commit 98cb955, read from GitHub in your browser. Hardware license: GPL-3.0-only; software license: GPL-3.0-only. Robotheca doesn't review code: read it before running it.