DIY hobby-servos quadruped
Based on published sources · Not tested by us ·
Overview
Twelve-servo Raspberry Pi/Arduino quadruped with downloadable CAD and Python gait code; hardware is noncommercial source-available and manual calibration is required. [S001]
Miguel Ayuso Parrilla's quadruped combines twelve hobby servos with a Raspberry Pi 4 and Arduino Mega. Python supplies kinematics and gait generation, while the Arduino handles servo and sensor signals. The original component list identifies DS3218 PRO servos and an MPU6050 IMU. This is a maker research build with manual setup work, not a documented plug-and-play kit. [S001] [S005] [S006]
Specifications
| Detail | Description |
|---|---|
| Type | Printed quadruped with three hobby servos per leg. Reported by source [S005] · Checked 2026-10-01 |
| Intended users | Experienced makers able to read Python and commission servo electronics Editorial assessment [S001] · Checked 2026-10-01 |
| Assembly | Creator instructions describe printed components, bolt quantities, bearing-supported joints and modular servo wiring; STL and V2 STEP packages preserved. Reported by source [S006] [S007] · Checked 2026-10-01 |
| Calibration | Manual servo calibration and per-servo offsets; creator says users must understand the Raspberry Pi code rather than follow a complete installation guide. Reported by source [S005] [S006] · Checked 2026-10-01 |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Available CAD does not settle the configuration
The GitHub printable-files folder redirects readers to Hackaday. The linked STL and V2 STEP archives have now been preserved separately from the code archive, with checksums and file lists. The creator's instructions explain print quantities, fasteners and assembly details, but those downloads were not manufactured or checked for geometric completeness by this publication. [S006] [S007] [S008]
A later project log describes a Teensy 4.1 PCB and BNO055 sensor, whereas the original build instructions use an Arduino Mega and MPU6050. Do not combine those controller and sensor choices into an apparently complete configuration. The selected code README still describes the Raspberry Pi program and points to an older branch for PC/PyBullet simulation. [S001] [S005]
Budget time for wiring and calibration
The original electronics instructions describe separate servo power branches and USB communication between the Raspberry Pi and Arduino. They also acknowledge that the diagram omits the Raspberry Pi's separate 5 V, 3 A converter. Treat the illustration as a starting reference that needs to be reconciled with the full configuration, not a complete wiring schematic. [S006]
The creator says there is no complete Raspberry Pi installation guide and expects users to understand the code and calibrate manually. The repository lists Python dependencies for the robot program and separate plotting dependencies for telemetry. Before working on gait behavior, establish the selected servo geometry and offsets and review the host/embedded interface. No installation, electrical commissioning or motion test was performed here. [S001] [S005] [S006]
Historical creator logs also report very hot servos after runs longer than ten minutes and occasional bad kinematic solutions on the Raspberry Pi causing unexpected leg movement. This review has not established whether those issues were resolved in the selected configuration. [S005]
The project page's historical “under $500” description is not a current complete quote. Parts availability, tools, printing, shipping and the chosen electronics revision have not been priced together, so the catalog leaves the delivered-build cost unknown. [S005]
Software and hardware have different rights
The creator explicitly assigns GPL v3 to software and CC-BY-NC-SA-4.0 to hardware. The latter includes a noncommercial restriction: this entry is classified as source-available hardware, not unrestricted open hardware. Do not extend the software license to the mechanical downloads or assume those hardware files authorize a commercial kit. The documentation is publicly readable, but its separate reuse terms were not established here. [S003] [S005] [S006]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Hardware is explicitly CC-BY-NC-SA-4.0; included as source-available with restriction disclosed, not unrestricted open hardware.
| Layer | Availability / license |
|---|---|
| mechanical design | available · CC-BY-NC-SA-4.0 Creator explicitly applies noncommercial share-alike terms to hardware. Mechanical downloads and wiring references do not establish a fully matched current PCB build. [S005] [S006] [S007] |
| electronics | available · CC-BY-NC-SA-4.0 Creator explicitly applies noncommercial share-alike terms to hardware. Mechanical downloads and wiring references do not establish a fully matched current PCB build. [S005] [S006] [S007] |
| firmware | available · GPL-3.0-only Creator declares GPL v3 for software; dependencies retain separate terms. [S001] [S003] [S005] |
| software | available · GPL-3.0-only Creator declares GPL v3 for software; dependencies retain separate terms. [S001] [S003] [S005] |
| documentation | available · License not fully assessed Public build documentation available; no separate documentation-wide license determined. [S005] [S006] |
Kinematic hobby-servo build; no learned policy or dataset selected.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · miguelasd688 / project contributors
Upstream project overview
Accessed 2026-10-01 · README.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S002 · miguelasd688 / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · d6291b50db6d05c437b78ec836df243db6f21e8bSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S003 · miguelasd688 / project contributors
Repository license
Accessed 2026-10-01 · LICENSESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S004 · miguelasd688 / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · d6291b50db6d05c437b78ec836df243db6f21e8b archive file inventorySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S005 · miguelasd688 / project contributors
Creator project description, licensing and development logs
Accessed 2026-10-01 · Retrieved project page; historical build and later development logs distinguishedSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S006 · miguelasd688 / project contributors
Creator build instructions
Accessed 2026-10-01 · Mechanical and electronics instructions; includes creator clarification on manual calibrationSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S007 · miguelasd688 / project contributors
Preserved hardware-file receipt
Accessed 2026-10-01 · Downloaded STL and V2 STEP archive checksums/member lists; no geometry validationSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S008 · miguelasd688 / project contributors
Printable-files referral
Accessed 2026-10-01 · Pinned folder READMESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1