Open Source RoboticsRobots, software & learning

Microtaur design reference

Robot / hardware build

Robot mechanical parts, Teensy-oriented electronics and experimental embedded-control source with sparse build documentation. [1] [5] [6] [4] [7] [8]

Build & first use →Official websiteUpstream build guide

For
Robotics developers inspecting the selected design and configuration [1] [5] [6] [4] [7] [8]
Cost
No current cost or bill of materials established yet.
Source rights
Some licenses are unresolved. Review licenses
Unknowns
host computer, tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
not fully assessed for mechanical design, electronics, firmware, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

Microtaur's repository contains mechanical parts, Teensy-oriented electronics and experimental embedded code. Its root README only identifies the design files and code, so this entry is a bounded source-design reference. It does not establish a complete parts, assembly, wiring or first-walk workflow. No project-wide reuse grant was identified; bundled library licenses do not automatically license the robot design. [1] [4] [5] [6]

Is this for you?

Known limitations
  • Root README only identifies design files and code; no complete assembly, calibration or commissioning route established.
  • No project-wide reuse grant identified; bundled Teensy library licenses do not license the robot.
  • Selected mechanical/electronics artifacts and source inspected, not full assembly or powered gait behavior.
  • Selected main_body_v2.SLDPRT payload is not recognized as CFB; extension alone does not prove editable geometry.

Editorial assessment of bounded source evidence; no runtime, fit, manufacturing or compatibility proof.

[1] [5] [6] [4] [7] [8] · Editorial assessment

What you need

Dependencies
  • Teensy 4.1 circuit/board configuration and separate motor-interface dependencies
  • Native mechanical/CAD tooling and matched fabricated parts

[1] [5] [6] [4] [7] [8]

Hardware & parts

Hardware configuration

Robot mechanical parts, Teensy-oriented electronics and experimental embedded-control source with sparse build documentation.

Editorial assessment of bounded source evidence; no runtime, fit, manufacturing or compatibility proof.

[1] [5] [6] [4] [7] [8] · Editorial assessment

Actuators
  • External actuators or host robot selected separately; scope is the stated design contribution

[1] [5] [6] [4] [7] [8]

Assembly & first use

Open the upstream getting-started guide [1] [5] [6] [4] [7] [8]

  • Inspect selected leg/body artifacts and electronics revision.
  • Read motor-interface source and identify exact actuators, wiring, dependencies and calibration before any upload.

Editorial assessment of bounded source evidence; no runtime, fit, manufacturing or compatibility proof.

[1] [5] [6] [4] [7] [8] · Editorial assessment

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. No hosted preview has been prepared for the configuration described in this profile. Inspect the linked sources and their reuse terms; a manufacturing-ready assembly has not been established by this preview status.

Model sources

No hosted preview has been prepared for the configuration described in this profile. Inspect the linked sources and their reuse terms; a manufacturing-ready assembly has not been established by this preview status.

Project notes

Distinguish inspected geometry from native filenames

The selected fabricated LegLink1.DXF is an actual text drawing payload matched to its pinned Git identity. It provides a concrete part to inspect while investigating the mechanism. The separately retrieved main_body_v2.SLDPRT also matched its source identity, but its native format/geometry was not established by the container check. Its extension alone is not evidence of editable parametric design or a complete decoded assembly. [7] [8]

The selected fabricated files do not establish the complete mechanism or purchased hardware compatibility. Match the selected part geometry and interfaces against the intended mechanism before fabrication; no native CAD load, assembly fit, link strength or printed/cut part was tested. [7] [8]

Read the leg implementation with its calibration assumptions

The actual Teensy-oriented board and legacy schematic were retrieved alongside the Arduino_Microtaur_Library implementation. This establishes circuit and control-source material, not a tested board/firmware pairing. The selected source uses eight supplied motor-zero values across four leg indices and computes leg angles/extensions from geometry. Those zeros and dimensions need matching to the actual actuator arrangement; they are not automatic calibration results. [4] [5] [6]

The source clamps requested leg extension to a range, but its angle-setting method contains an explicit unfinished-safeguard comment. Updating an internal target or kinematic state is not proof of protected motor actuation. Review the complete motor transport, feedback and limit paths before considering a powered test; this review did not audit or reproduce the experimental walking application. [6]

Define the missing build work before procurement

Begin with reviewed commit 3506311b08cc2b8ccf2326b0756709c7eb605c19, the selected leg drawing, and Electrical/microtaur-teensy41.kicad_pcb with Electrical/microtaur-teensy41.sch. The schematic identifies a Teensy 4.1 controller; board/firmware compatibility remains untested. Identify exact actuators, purchased parts, wiring, firmware/toolchain versions, zeroing and operational limits before upload or assembly. The sparse root documentation does not establish that this investigation can be skipped. No matched current BOM or complete delivered build price was established. [1] [4] [5] [6] [7]

This source reference does not promise an unrestricted manufacturing grant or a reproducible walking robot. No dependency install, upstream compilation, board fabrication, firmware upload, sensor/motor calibration, powered gait, stability or performance test was performed. [1] [6]

What we checked

Pinned source and selected artifact structure review only; no dependency installation, upstream build, native CAD/kernel/fit/strength validation, fabrication, wiring, calibration, simulation, powered operation or performance testing. Original archives stay private.

Not yet established

  • Requirements: operating system, host computer, tools

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Nov 1, 2026
Sources last checked
Nov 1, 2026
Next review
Dec 1, 2026
Reviewed revision
3506311

Source files and licenses

Identifiable robotics contribution with inspected actual source and bounded design/workflow investigation; no missing core functionality inferred.

LayerAvailability / license
mechanical designavailable · License not fully assessed
Original fabricatedlegDXF text inspected; native body payload format/geometry unestablished, no wholeassembly/reusegrant proof. [7]
electronicsavailable · License not fully assessed
Actual board source inspected; no project grant inferred from library notices. [4]
firmwareavailable · License not fully assessed
Selected implementation source; no project-wide grant or successful operation established. [6]
documentationavailable · License not fully assessed
Sparse source pointer, not complete build instructions. [1]

Outside the selected contribution; no separate released layer claimed.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history