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Niko

Niko is an accessible, 4-DOF open-source quadruped robot dog driven by an ESP8266 and four SG90 micro-servos.

  • Quadruped
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @harishgl2007 (opens in a new tab), from github.com/harishgl2007/Niko-Dog (opens in a new tab). Pinned to commit dc0147e (opens in a new tab).

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

Photo and 3D model

This repository has no photo of the robot yet.

3D preview converted from github.com/harishgl2007/Niko-Dog at dc0147e, under MIT. View the original files from GitHub (531 KB) (opens in a new tab)

Degrees of freedom
4

What it can do

Written by Robotheca from the project's documents.

  • Quadruped robot dog with 4 degrees of freedom, one servo per leg.
  • Smoothstep easing gives organic, weight-shifting movement without multi-axis joints.
  • Runs standalone as a WiFi access point named NikoDog, no router needed.
  • Controlled over TCP using a JSON string protocol, usable from any language.
  • Includes Niko Robot Studio, a Python program for real-time control and macros.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Flash the firmware to the NodeMCU
  2. 2Assemble the robot using the Assembly Guide
  3. 3Power on Niko and connect to the NikoDog WiFi
  4. 4Run the Python controller to execute a test movement

The guide appears here as you scroll.

Guide by @harishgl2007 (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • NodeMCU ESP8266 microcontroller and WiFi controller.
  • Four TowerPro SG90 9g micro servos for the leg joints.
  • 5V power supply, e.g. an 18650 battery with a 5V step-up boost converter.
  • 3D-printed chassis and legs.

Connections

  • Servo PWM signal wires connect to ESP8266 pins D1 (front left), D2 (front right), D3 (back left), D4 (back right).
  • Servos must not be powered from the ESP8266 3V3 pin; use the separate 5V supply.
  • All servos must share a common ground with the ESP8266.
  • Front right and back left servos are mounted mirrored and the firmware inverts their angle.