Turtlebot - quadruped

by hardmouse, published

Turtlebot - quadruped by hardmouse Sep 18, 2013
6 Share
Download All Files

Thing Apps Enabled

Order This Printed View All Apps




Turtlebot - quadruped by hardmouse is licensed under the GNU - GPL license.

Liked By

View All

Give a Shout Out

If you print this Thing and display it in public proudly give attribution by printing and displaying this tag.

Print Thing Tag

Thing Statistics

28367Views 4885Downloads Found in Robotics


It's a quadruped robot that using 8x 9G servos with ultrasonic sensor. You may use your own controller board. In this case I am using regular Arduino with expansion shield and a 7.2V lipo battery with 5V UBEC to regulate the voltage down.


Things you need:
9g micro servo x8
1 1/4" M2 or M3 bolts x12
Nylon nuts for bolts x12 (Other nuts works too but Nylon is better)
10"~12" Aluminum tubing (OD5/32 and OD3/16 for each)

Tools I use:
Electronic driller*(Sometimes the hole is too small)
Tube cutter
pliers(for bolt I used)
allen keys(for bolt I used)
File (Smooth out the surface on parts)
AB cold welder (To glue the bolt inside of servo bracket which connect to body as shown in picture. The one with white bracket)

You may want to try this FREDUINO board alone without any servo shields or regulator since it provides 2A output on board. I tried to plug 8 9G servos on it and it works fine with my chassis. Nicely designed!

2014.11.30 UPDATE:
I have expand the main servo brackets(Left and Right) slightly larger(about 1 mm) for some larger servos. you may find them in name: bracket2_L_ext.stl & bracket2_R_ext.stl.


You will need 3/16" OD aluminum tubing for spacing in between joints as shown in picture. Also some 1 1/4" bolts and nylan nuts to lock parts in place. (In some case you might need to file out some holes from printed parts depands on the bolts you use.) Metal tubing is to reduce the friction in joints, the most important is to having these tubing sticking out a bit so when you screw down the bolts and nuts won't contact surface on parts that cause friction. It just suggestion that I use, you might got some better idea to do this. Drop me a line so others can learn from your idea.

For Ultrasonic sensor housing: I made it for SR-04. Others might not fit in this case or some other from different places might need to file the housing to fit in. I just use 3M double sided type to attache it on the top body plate. They works quiet well and firmed.

As for body plates I got 2 versions. Pick whatever you like. Notice the file "bracket2_connx" is I made to connect top and bottome plates. You don't have to use it. Actually these plate are easy to made. I strongly recommand you make your own to show more personality ;)

UPDATE:2013, Oct 8
Ok! As some people have asked so I have upload my code @Github. https://github.com/hardmouse/J_robots/blob/TurtleBot_2DOF-modified-and-added/TurtleBot_2DOF/
I have warned, my code is very very bad. So bad that I don't even think it's a good idea for starter. It might lead you to wrong direction for programming. So, before you check the code; please think twice.....or more than 3 times.

More from Robotics

view more

All Apps

Auto-magically prepare your 3D models for 3D printing. A cloud based 3D models Preparing and Healing solution for 3D Printing, MakePrintable provides features for model repairing, wall thickness...

App Info Launch App

Kiri:Moto is an integrated cloud-based slicer and tool-path generator for 3D Printing, CAM / CNC and Laser cutting. *** 3D printing mode provides model slicing and GCode output using built-in...

App Info Launch App
KiriMoto Thing App

With 3D Slash, you can edit 3d models like a stonecutter. A unique interface: as fun as a building game! The perfect tool for non-designers and children to create in 3D.

App Info Launch App

Print through a distributed network of 3D printing enthusiasts from across the US, at a fraction of the cost of the competitors. We want to change the world for the better through technology, an...

App Info Launch App

Quickly Scale, Mirror or Cut your 3D Models

App Info Launch App

Treatstock is an online platform that offers decentralized manufacturing services such as 3D printing and CNC machining for clients all over the world. We offer free and instant access to comparati...

App Info Launch App

3D print your favourite design with NinjaPrototype, a professional 3D manufacture with consistent quality and speed.

App Info Launch App

please, could someone tell me how i have to connect the servos to make work the code published?

Sorry, haven't update or came back here for while. Will try to update it if possible. Not even sure if I can find my code :(

How do You wire servos ???

I was using earlier version of this expansion board:

Where I find the library steps.h ?

may you the number of each servo in your source code? I'm writing my own, but I have doubts about the movement

how much does it cost?

i might make a remix controlable w/ fpv

sera q puedes explicar el codigo??

Would this work with any of the http://Sparkfun.comSparkfun.com servos?

Not ALL servos but most of 9G servos should works.

Thanks. So worst case scenario is I have to file some stuff. Thanks.

Sometimes they got bigger holes on the side and some are small. Yes, you might need to file them.

K thank you kindly.

Comments deleted.

see http://wifiquadrupedrobot.blogspot.hk/ for how to build it, it is open source project, hoping software can be improved.

Wonderful! You did amazing job to improve this. That's my encouragement too.

the bracket_R/bracket_L are too small for 9g servo, can you generate ones with say 1mm larger? I think many people will appreciate that.

Thanks for advice. I have updated these 2 STLs.

Great! The ext versions are well fit to 9g servo I bought from different vendors.

Made one, demo video http://youtu.be/QYSDVoCGn5khttp://youtu.be/QYSDVoCGn5k
Different in electronic, it is with a small WiFI access point with customized openwrt firmware and a servo controller. So The kinematics of turtlebot is controlled by remote computer via WiFi. Next step is to write a smart phone app to control it.

Awesome! I saw you got some other projects with smart phone. I'd be happy to see your bot controlled by smart phone. Please let me know when you finish.

Another demo with iphone control http://youtu.be/iae71xAs5AUhttp://youtu.be/iae71xAs5AU
In fact, it can be controlled by any devices with just a web browser. I decided to do this way because the control
will not be limited in using smart phone only.

I cannot get the bracket_leg files to slice in Slic3r. Even in Inventor, it says they are not solid bodies. I have printed all other parts. Could you look into this? Thanks!

Hum...strange. I just tried to download it and it looks fine to me in Repetier. Which application you are using?

HI !! very good job , a friend as made all parts , but i have a question , what is the reference of your 9G Servos ,because i had some problems with compatibility with another project ? thanks to advance ,William

Not sure how your another project designed so its hard to tell you something about compatibility.

I'm not using an Arduino, and I'm having some trouble scripting the movements. Could you describe the gait. Its a little hard to tell from the video because your boot keeps turning.

Hum...I will try my best to explain in English. Basically, it's four steps combination as a loop.

There are 2 servos for each leg and I will use Thigh(one close to body) and Leg(far end) to describe them.

Also, when I mention 'close' position it looks like this from top view =0= , Notice all 4 thighs are close to inner position. For 'open' it looks like this >0< (I hope you get what I mean by these :P)

Ok, here we go:

  1. Raise the Front-Left-Leg and Rear-Right Leg so these 2 leg are in the air, In up-sit way you need to lower down rear-left leg and Front-Right leg down to the ground.

  2. Move Front-Left Thigh to 'open' position and Rear-Right Thigh to 'close' so those 2 legs are ready to move body forward in next 2 step. Also move Rear-Left Thigh to 'open' and Front-Right Thigh to 'close' position so they move the body forward.

  3. Raise Front-Right Leg and Rear-Left Leg in the air and lower down Front-Left-Leg and Rear-Right Leg to the ground.

  4. Move Front-Right Thigh to 'open' position and Rear-Left Thigh to 'close' and move Rear-Right Thigh to 'open' and Front-Left Thigh to 'close' position and that will move the body forward.

Then back to step one all over again. Same concept to move robot backward.

Even turning left and right are different than moving straight but it should be easy after you can move straight.

Any chance of sharing code? I'm doing some work on learning about Gaits and creep, trot, etc. But with this guy and the 2DOF it makes it a little more awkward. If you can share what you have going on in your video it might give us some good starting points.

it's so cute... I like it! :)

My code sucks, you sure you want? It's pretty messy :P

+1 for the code :)
It would be perfect to upload it to github if you want to make it open source.

As you wish.....Because of your words. This is first time I share my crap code and first time use Github.

It would be really helpful to understand what servo number correspoonds to what thigh/leg when we wire this up.
front left thigh=?
front right thigh
front left leg
front right leg
and so on?

So far mine is very reponsive to sonar feedback but just waives at me like an angry drunk turtle....

How do you have the motors wired? I've been trying to work out the positioning from the code, but haven't had much luck,

Awesome, love the color! Can you include your arduino code as well?

How much would it cost to build this?

It depends, other than filament you need 8x servos which can be low as $2 per each. Aluminum tubing from local hobby store cost $2.50. In case you don't have metal tube cutter you might want one too. for those M2~M3 bolts and nylon nuts you can find from local hardware store about less than $10~20. Arduino and expansion shield can be found about $30. Battery can be vary, you may use 4xAA or regulated LiPo battery or whatever you like. Up to you.

Generally, I's say around $50~$100 in material.