Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

AT-AS quadruped (or hexapod) robot

by Anandromeda, published

AT-AS quadruped (or hexapod) robot by Anandromeda Sep 9, 2012


The "AT-AS" (All Terrain - Anita Scout) is a printable quadruped robot.

The AT-AS is a project of an efficient robot, as it has achieved a useful and complete walking robot base using few technical and economic resources. In addition, it is a flexible robot project since its design is open to many development possibilities in future works such as the transformation of the quadruped model to a hexapod model, easy modification of leg and modular structure design, the possibility of adding sensors to improve control or communication with other robots using wireless networks via Xbee modules.

I used two parts of the "Versatile Servo Bracket System" created by bryanandaimee:
But the rest of parts has been designed by my own, using OpenSCAD and C++ OOML (Oriented-Object Mechanical Library): iearobotics.com/oomlwiki/doku.php?id=start

For the AT-AS implementation, I used:

- 1x Arduino Mega 2560.
- 8x Servo Futaba S3003.
- 1x Lipo Battery (2S, 7,4V).
- 1x UBEC (5V).
- Remote control through a Gamepad connected to a PC.
- Wireless communication through Bluetooth or XBee modules.

But this robot accepts others microcontrollers, servos (with similar dimensions) and others components for its control. Use the one you prefer!

See a video of AT-AS quadruped in action:

Quadruped Robot --> Hexapod Robot
The part called: "hip_evolution_hexapod" is only for the transformation of the quadruped model to a hexapod model. Using this part, just need to print another two legs! :)

Recent Comments

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Yes! Thank you, i will have a look at it :)

I have got mine walking a bit while waiting :) But not as smooth as yours..



Is that link better?

Hi i would like to se you'r code too.. mine is not running so smooth, and it would be nice with some inspiration :)

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(A further update with the programming & instructions of installation will be available soon.)


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carlosgs on Jan 5, 2013 said:

Great design, I love it :)

Just as a suggestion, you could use these servo lids http://www.thingiverse.com/thi...

drodgers on Jan 5, 2013 said:

Here's my first pass at some code - it does a cute, awkward lurching walk. There's lots of room for improvement though:


Just paste that into a .ino file and upload with the standard Arduino IDE.

You'll need to change the pin assignments, either physically on your Arduino or in the code to get the servos properly ordered.

Anandromeda on Dec 4, 2012 said:

Sorry for the wait. I've been very busy lately... :(
Now I'm trying to mount the full hexapod. When finished I will upload instructions and code. I promise!! ;)

MarcusWolschon on Nov 28, 2012 said:

Instructions still missing?

Zarquon on Nov 18, 2012 said:

I really like this thing and I'm
considering a walker project next. Is the code for your
microcontroller available to look through?

Zarquon on Nov 28, 2012 said:

My walking pattern still needs some
work but I'm excited it works.

Here it is responding to an IR remote.

hyla on Oct 18, 2012 said:


I had a problem with the servo buttons coming off the servo case.
So I created my first project :)