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Pegasus Robot Dog

An affordable, fully 3D-printable open-source quadruped robot dog controlled by a Pimoroni Servo 2040.

  • Quadruped
  • Open source
  • micropython
  • 3D printable

Suggested by Robotheca, created by @t33devv (opens in a new tab), from github.com/t33devv/pegasus (opens in a new tab). Pinned to commit 035b6aa (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/t33devv/pegasus at 035b6aa, under MIT. View the original files from GitHub (2.9 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Walks, trots and runs as a quadruped with four legs, each a parallel five-bar linkage.
  • Each leg has a roll servo, giving 12 servos in total.
  • Remote control from a laptop via a web UI with keyboard keys, or by voice commands.
  • Voice commands can include turns, walking set distances, standing, lying down, jumping and lifting a foot.
  • Active roll and pitch balancing using the IMU in a continuous control loop.
  • Demo routines include a crawl gait, tripedal balance, torso twist and a full demo sequence.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @t33devv (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Pimoroni Servo 2040 (RP2040) board running Pimoroni MicroPython, which controls the robot.
  • Twelve servos driving the legs, two per leg plus a roll servo per leg.
  • MPU6050 accelerometer and gyro (IMU) used for balancing and turn control.
  • VL53L0X time-of-flight distance sensor.
  • USB-C connection for logic power and a 6V bench supply for servo power.

Connections

  • The board is powered by USB-C for logic and a separate 6V bench supply powers the servos.
  • Servos connect to the board's servo headers, with the first four headers used for early tests.
  • The laptop connects to the board over USB serial, which the laptop-side scripts use for commands.
  • The wiring details are described in a separate ROBOT_DOG.md file that was not included in the documents.