Skip to content
RobothecaBeta
Log in

NodeQuad V1

A spider quadruped robot controlled via Wi-Fi using NodeMCU-32S (ESP32) and MicroPython.

  • Quadruped
  • No license: all rights reserved by the creator
  • micropython
  • 3D printable

Suggested by Robotheca, created by @ViolinLee (opens in a new tab), from github.com/ViolinLee/NodeQuad12-MicroPython (opens in a new tab). Pinned to commit 5cc7b91 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Photo and 3D model

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

3D model loaded from the original files on GitHub at 5cc7b91, under NONE. View the original files from GitHub (8.5 MB) (opens in a new tab)

Degrees of freedom
12
Payload
20 kg

What it can do

Written by Robotheca from the project's documents.

  • Walks with multiple gaits in MOVE mode
  • Rotates and translates with 6 degrees of freedom in POSE mode
  • Controlled via Wi-Fi on ESP32
  • Calibrated via Wi-Fi on ESP32

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Fastener Assembly
  2. 2Web Controller Setup

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • NodeMCU-32S (ESP32) as main controller
  • 12 × 20kg servos as actuators
  • PCA9685 servo driver
  • MPU6050 IMU sensor
  • Mini360 DC-DC converter for ESP32, PCA9685 and MPU6050
  • 8A UBEC for powering 12 servos
  • 3S 2200mAh LiPo battery

Connections

  • ESP32 connected to PCA9685 via I2C bus
  • PCA9685 connected to 12 servos via PWM signals
  • MPU6050 connected to ESP32 via I2C bus
  • Mini360 DC-DC converter powers ESP32, PCA9685 and MPU6050
  • 8A UBEC powers 12 servos