STM32 Quadruped Robot

A quadruped robot controlled by an STM32F103C8T6 microcontroller, capable of walking forward, backward, and lifting its legs.

Quadruped
Open source
3D printable

Suggested by Robotheca, created by @JayooYuan (opens in a new tab), from github.com/JayooYuan/stm32-quadruped-robot (opens in a new tab). Pinned to commit d65b676 (opens in a new tab).

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Hardware license: MIT (opens in a new tab)
Software license: MIT (opens in a new tab)
Commercial use: Allowed

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

Moves forward when receiving '@UP#*' over Bluetooth
Moves backward when receiving '@BACK#*' over Bluetooth
Lifts legs or stands up when receiving '@TJ#*' over Bluetooth

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Prepare STM32F103C8T6 development environment
2Assemble hardware components according to schematic and PCB
3Flash firmware using Keil MDK/uVision 5
4Test basic movements (forward, backward, leg lift) via Bluetooth

The guide appears here as you scroll.

Guide by @JayooYuan (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STM32F103C8T6 microcontroller
Servo motors for legs
HC-05 Bluetooth module
WS2812 addressable RGB LEDs
Power supply and voltage regulator

Connections

Servo motors connected to PWM-capable GPIO pins on STM32F103C8T6
HC-05 Bluetooth module connected via UART to STM32F103C8T6
WS2812 LEDs driven via DMA on a dedicated GPIO pin
Power rails shared between STM32, servos and LEDs with proper decoupling

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 35/100Incomplete documentation
Parts: –
Tools: Keil MDK/uVision 5, ARM Compiler 5, Soldering iron, 3D printer (if custom chassis is used), PCB manufacturing tools (for Gerber file

Buildability35/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit d65b676. It isn't a rating of the robot.

3D and CAD files0/20
No printable parts or CAD files.
Most points to gain: Add the parts to print (STL or 3MF files). Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation15/15
README of 1,603 characters with 2 pictures; 4 build steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: MIT; software: MIT.

Software

Framework: Not stated
Languages: C, Assembly
License: MIT

The code

firmware/Assembly, C · 72 files

How to run it

Written by Robotheca from the project's documents.

Open firmware/Keil/Project.uvprojx in Keil MDK/uVision 5
Rebuild the project in Keil to generate the HEX output
Flash the resulting HEX file to the STM32F103C8T6 using a suitable programmer

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit d65b676.

Community

Questions and improvements go to the creator's repository.

Photo