Quattro ZBD
An open-source DIY quadruped robot dog project based on an ESP32-S3 microcontroller and inverse kinematics gait control. It was adapted from a hexapod robot design, with a total build cost of approximately 200 USD.
Timeline (last 90 days)
The Quattro ZBD quadruped robot dog evolved from an existing hexapod robot by "removing two legs".
All functionality developed for the hexapod robot (body self-balancing, facial expressions, puppet mode) was smoothly migrated to the quadruped platform.
The total build cost of the Quattro ZBD is approximately $200.
The core controller of the Quattro ZBD is an ESP32 S3, paired with off-the-shelf components from the Arduino ecosystem.
The Quattro ZBD uses 12 DS3218 high-torque servos with 3 degrees of freedom per leg, managed by a PCA9685 servo driver board.
The Quattro ZBD uses an MPU6050 IMU sensor to implement the body self-balancing function.
In the current version, the gait is computed individually for each leg by an inverse kinematics (IK) solver.
The author plans to introduce reinforcement learning to train the control policy, replacing the fixed IK solver in order to achieve more natural gaits.
The project is fully open-source, providing CAD designs, 3D printing files, wiring diagrams, ESP32 control scripts, and both the source code and APK for an Android remote-control app.
The author is developing a bipedal version, with updates to the leg structure nearing completion, and plans to release it within a few weeks if it can successfully walk.
All Facts (10)
The Quattro ZBD quadruped robot dog evolved from an existing hexapod robot by "removing two legs".
50%UnverifiedAll functionality developed for the hexapod robot (body self-balancing, facial expressions, puppet mode) was smoothly migrated to the quadruped platform.
50%UnverifiedThe total build cost of the Quattro ZBD is approximately $200.
50%UnverifiedThe core controller of the Quattro ZBD is an ESP32 S3, paired with off-the-shelf components from the Arduino ecosystem.
50%UnverifiedThe Quattro ZBD uses 12 DS3218 high-torque servos with 3 degrees of freedom per leg, managed by a PCA9685 servo driver board.
50%UnverifiedThe Quattro ZBD uses an MPU6050 IMU sensor to implement the body self-balancing function.
50%UnverifiedIn the current version, the gait is computed individually for each leg by an inverse kinematics (IK) solver.
50%UnverifiedThe project is fully open-source, providing CAD designs, 3D printing files, wiring diagrams, ESP32 control scripts, and both the source code and APK for an Android remote-control app.
50%UnverifiedThe author is developing a bipedal version, with updates to the leg structure nearing completion, and plans to release it within a few weeks if it can successfully walk.
50%UnverifiedThe author plans to introduce reinforcement learning to train the control policy, replacing the fixed IK solver in order to achieve more natural gaits.
50%