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TortoBot Gamera - 4 DOF Quadruped Robot

by hkucs-makerlab, published

TortoBot Gamera - 4 DOF Quadruped Robot by hkucs-makerlab Jan 28, 2017
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Summary

This is a very easy to build 4 DOF quadruped robot. It is part of the experiment to use only one servo per leg to have locomotion of forward, backward, left and right turns. The result is quite well, so we release the models to share with the public . Hoping people are enjoy to make one.

The body two sides are servo holders for 4 low cost Tower Pro 9g servos. The body bottom is the chamber to hold one 18650 lithium ion rechargeable battery. To power up servos and the Arduino MCU board (such as uno, nano and pro mini) likely you will need a 3.7V to 5V step up voltage regulator. On the demo, we use GSTdruino which integrates everything on a single board. The head has space to put on a 5mm LED, but this is optional. Arduino sketch can be found on github

Tortobot was used in a STEM workshop we offered to primary and secondary schools. If you're insterested you can find the workshop material here to held same kind of workshop. The workshop taught students using MIT App Inventor to write an Android app to control Tortobot .

Demo:
https://youtu.be/sIkWTKvvwO4

Assembly Steps:
https://youtu.be/Zm9635K0Rz8

Adding a Bluetooth UART module for wireless remote control:
https://youtu.be/ngmEcesM1u8

Remote control using this Android app:
https://youtu.be/zsgh4Xcl6JA

BOM for the Demo Built:

Print Settings

Printer:

pursa i3

Rafts:

No

Supports:

Yes

Resolution:

0.2mm

Infill:

10%


Notes:

tortobot-top-plate.stl is not needed, if you're not using GSTdruino

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