# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Four-Legged Robot
summary: A small open-source quadruped robot with four MG90S servos, one hip joint per leg, an Arduino Nano, and a 3D-printed body.
category: quadruped
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/one-for-all/four-legged
  ref: 233580461c00ec6bfae13c61fc1745b9b6371b2c
tools:
  - 3D printer
  - soldering iron
  - small screwdriver
files:
  parts_3d: urdf/meshes/
  bom: README.md
  images:
    - real.png
software:
  framework: arduino
build_steps:
  - title: Print the parts and clean up the holes
  - title: Seat the battery in the battery holder and mount the holder to the base
  - title: Home the servos before the horns go on using calibrate.ino
  - title: Mount the servos to the body with M2 x 10 mm self-tapping screws and secure each
  - title: Mount the top cover with M2 x 5 mm screws, routing servo and battery leads throu
  - title: Attach the legs to the horns with M2 x 8 mm self-tapping screws
  - title: Wire the breadboard, converter, Nano and button per the wiring table
  - title: Flash quadruped_walk.ino and press the button