3DOF Mini Quadruped

thingiverse

I implemented TheCase's fantastic mini-quadruped layout and adored its straightforward component design. To enhance leg kinematics, I slightly revamped the leg parts for increased flexibility, resulting in a less cumbersome limb. For now, I have omitted the servo buttons at the coxa joint but may reinstate them later for smoother movement. If there's interest, I might develop a PCB that accommodates a Teensy 2.0 microcontroller board and powers/supports twelve servos. Watch this robot's first gait in action: https://www.youtube.com/watch?v=VsHNA3oLXC8. The necessary components include one backbone, two hips, two coxa_right, two coxa_left, four femur, and four tibia, all paired with 12 9g servos, optimally Turnigy TG9e servos: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22928. While any 9g servo will work, adjustments to the printed parts may be necessary.