Turtlebot - quadruped

thingiverse

Create a quadruped robot with eight 9G servos and an ultrasonic sensor. You can use your own controller board, here I've used an Arduino with expansion shield and a 7.2V lipo battery regulated by a UBEC. Check out the video to see it in action! To make this robot, you'll need: - Eight 9g micro servos - Twelve 1 ¼” M2 or M3 bolts - Twelve nylon nuts for the bolts (Nylon works best) - 10”-12” aluminum tubing with ODs of 5/32 and 3/16 Tools required include: - An electronic driller (for small holes) - A tube cutter - Pliers (for handling bolts) - Allen keys (also for handling bolts) - A file (to smooth out parts) - An AB cold welder (to glue the bolt inside the servo bracket to the body) If you're looking for a controller board, consider trying the FREDUINO board alone without any shields or regulators; it provides 2A output on board and can handle eight 9G servos. For updates, check out the 2014.11.30 update: the main servo brackets have been expanded by about 1mm to accommodate larger servos (files named "bracket2_L_ext.stl" and "bracket2_R_ext.stl"). To assemble the robot, you'll need 3/16” OD aluminum tubing for spacing between joints, along with some 1 ¼” bolts and nylon nuts to lock parts in place. File out some holes from the printed parts if needed, depending on your bolts. Ensure that the metal tubing sticks out a bit so that the nuts don't contact the parts, causing friction. For the ultrasonic sensor housing, I used SR-04 and attached it with 3M double-sided tape. You can also use your own body plates; two versions are provided, choose whichever you prefer. The file "bracket2_connx" is for connecting the top and bottom plates, but you don't have to use it if you prefer making your own plates. Update 2013, Oct 8: The code is now available on Github (https://github.com/hardmouse/J_robots/blob/TurtleBot_2DOF-modified-and-added/TurtleBot_2DOF/). Note that it's very poor quality and may not be suitable for beginners. Proceed with caution before checking the code.