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OLDX-MocoMoco Quadruped

An open-source 8-DOF quadruped robot platform for research and SLAM algorithm validation, featuring virtual model control and multiple gaits.

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

Suggested by Robotheca, created by @golaced (opens in a new tab), from github.com/golaced/OLDX-FC_QUADRUPED_QUADROTOR (opens in a new tab). Pinned to commit d5f8d6d (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.

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

Which files (1 program or installer)

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 d5f8d6d, under NONE. View the original files from GitHub (1.9 MB) (opens in a new tab)

Degrees of freedom
8
Power
7.4 V
Weight
600 g
Height
10 cm
Cable length
8 cm

What it can do

Written by Robotheca from the project's documents.

  • 8-DOF quadruped robot with Tort, Fly-Trot and wave gaits
  • Remote control via 2.4 GHz SBUS or SBUS receiver
  • Autonomous modes: posture balance with or without ground sensors, driving mode
  • Posture control using IMU (accelerometer, gyroscope, magnetometer) and barometer
  • Ground sensor support for touchdown detection
  • SDK development interface for trajectory and torque control
  • ROS integration for high-level control commands

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Assemble the Raspberry Pi and control board
  2. 23D print or source the robot frame parts
  3. 3Assemble the robot arms and central body
  4. 4Install the battery compartment, control board, and servos
  5. 5Connect servos and electronics
  6. 6Install the top plate
  7. 7Assemble and calibrate the legs
  8. 8Calibrate IMU sensors
  9. 9Install foot pads and final assembly

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

  • Main controller: STM32F405RGT6 (ARM Cortex-M4, 168 MHz)
  • IMU: LSM6DS33 (accelerometer + gyroscope), LIS3MDL (magnetometer), MS5611 (barometer)
  • Servo drivers: 12 PWM output channels for 8 Kpower 12g metal servos (6 V, 60°/0.035 s, 9 kg·cm)
  • Onboard computer: Raspberry Pi A3+ (1.4 GHz quad-core) for vision and SLAM tasks
  • Power supply: dual 18650 Li-ion batteries (7.4 V, 3000 mAh, >35 min runtime)
  • Power module: integrated buck converter for 5 V and 3.3 V rails
  • Ground sensors: optional thin-film pressure or micro-switch sensors on feet

Connections

  • IMU connected via SPI to STM32F4
  • Servos powered from external 5 V rail with PWM signals from STM32F4 PWM outputs
  • Raspberry Pi connected via UART (TX3/RX3) to STM32F4 for high-level commands
  • Ground sensors wired to ADC or I2C pins on STM32F4
  • Power module provides 5 V to servos and 3.3 V/5 V selectable to sensors
  • Servo wiring follows mirrored pinout for four legs (e.g., leg 1 outer servo PWM3, leg 2 outer servo PWM6)