Q1 mini Quadruped Robot (Designed by Jason Workshop)

by jasonleung8866, published

Q1 mini Quadruped Robot (Designed by Jason Workshop) by jasonleung8866 May 17, 2017

Design Tools

Fusion 360

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Q1 mini is an open source quadruped robot for everyone!

Q1 mini features:

  • 8 DOF using MG90S / SG90 servo.
  • All-in-one controller board - TinyPlan V400, simple design and built-in battery.
  • Remote control the robot through the wifi.


Assembly Instructions and all file for this project:

3D Printed parts
TinyPlan V400 Servo Control Broad x 1
TowerPro MG90S /SG90 Servo x 8
M2 x 8mm Screw

Q1 mini

Parts can buy from here

Jason Workshop

Print Settings




Doesn't Matter


Doesn't Matter


0.2 mm


0 - 20 %


Recommended to use a FDM 3D printer with PLA material. You can print individually piece by piece to match the colors of the original design or optionally print all at the same time.


No need to print all parts, just choose what you want,
Details please refer to "Parts_List.pdf"


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Comments deleted.

When I turn my jbot on, the legs seize in random directions (I'm super new to robotics), anyone have any suggestions?

  1. Confirm your servo motor good quality, and can turn 180 degree. (Your can check your servo with servo tester)

  2. Install latest firmware before connect servo motor to board.

  3. Charge battery.

I'd love to see a version that wasn't also bent with a hair dryer.

Version 1.5 support MG90S, SG90S Servo and you can choose thermoplastic parts or not.

And... version 1.5 coming within few days...

I got mine working in a way, I am using the sg 90 servos version. It does everything well, except walking and turning. It a kind of just sliding on the floor and carpet. I used hot glue gun on the tip of foot to give it more fiction. But it still doesn't move well. Anyone has the same problem?

P.S I made a App inventor version of the control interface to run the robot, works pretty well....

Firmware version 1.5 have new walking program, and coming within few days...

Demo here:

This is such an awesome project, but do you mind me asking the following:
How big of a difference would it be if we use an alternative board to control the servos in terms of programming/do you know of other boards that would do the same job?
Also how do you go on to set up the programming (from the files provided, I noticed a compile error for ESP5226wifi.h that I could not find)?

If you are a maker, you must be know you can make everything you want ^_^

Hello Jason, i finished building my jBot, its all setup but how do you control it ? i cant find this interface > https://2.bp.blogspot.com/-uJwk7AiTZYs/WTVIwBFgIlI/AAAAAAAAIms/ZXz-_IIEpIcuD-0VNYSucWg7xviAe9CTQCPcB/s1600/20170605001.jpg

when i go to, the page is empty (all white no content) :(
if you can send me a link that would be awesome :)
thanks a lot.
ps : the tinyplan v400 board is awesome, super easy to setup, good job :) !

jBot just like WiFi Access Point, please use your device connect jBot, then go to, that's all, enjoy!

there is no control on that page, just some "program" icon (?)
i have a /zero and /setting page also but no control either on any of these :/

page info says tinyplan firmware 4.10, is that the correct version ?

Please scroll down, you can see the control panel under the motion editor.

any chance u upate the servo calibration page ? im a bit stuck trying to calibrate the servo properly. All tutorial stops before the calibration :/

ok i found it, i reflashed with the correct firwmare :) i was using tinyplanv400.bin instead of tinyplan_quadrupedv110.bin :)
thanks a lot :)

did you manage to make it works with arduino?

You can remix a new version to support Arduino, Thx.

SG90 version there:

also you can remix Q1 for arduino + esp8266 ^_^

Wow it's very nice. Is it possible to share the f3d files? I need to edit to modify to fit the servo and board

Thank you "TaoBao"... many people use Q1 for profitable business, so I decided will not publish f3d file, will only provide stl file, I am so sorry about that...

Please give me some time, I will fine tune Q1 and release f3d files soon ^_^

So you heat up and bend the mounts in the newer design? Is it not possible to print it in that shape and squeeze the servos in? Just curious why the need to do extra work when we could print (almost) any shape... but I'm probably just missing something. I love the end result, though!

You right, 3D Print possible to print out any shape. In the first version, leg1 need 5 3d printed parts with 8 screws, second version change to only one parts but need to heat up for change shape. Also you can print unibody leg1, but It is more difficult to ensure the accuracy of the shape, and need more time and supports to printout.

Hi I'm 10 and am working on some other projects and am pretty low on funding whats your estimate for the cost $
thank you

No way! You can get everything you need from banggood or amazon for like $20 to or $30 max! No joke. That includes a board with wifi/bt, a 12 or 16 channel servo board and a cheap battery plus a bunch of servos.

3D Printed parts x 20 / Free
TinyPlan V400 Servo Control Broad x 1 / 42$ from official facebook
TowerPro MG90S Servo x 8 / 50$ from ebay
M2 x 8mm Screw x 28 / 4$ from ebay

so around 100$ for everything :)

seems like they dont mail to Australia T_T

Thank you for your estimate ^_^

im a bit lost here, i printed all part last week but now i dont find the same model listed anymore.
MOLD file wasnt there last week ? also the part i printed are not as discribed in the ASSEMBLE tutorial ://// damnnn

ps : ok found out the tutorial has been updated as well :) re-printing the new parts \O/ :)

Sorry about this, I just release version 1.2 yesterday, so still a bit confusing.

Version 1.0 Instructions can download from https://drive.google.com/drive/folders/0B63pt85qF_MYMlppUkpJMmpac2c

Version 1.2 improve leg1, servoBottom and bodyBottom parts.

its ok i re-printed the new part :) its printing so well thats great.
i try the hairdryer trick to bend the pieces but its not working that good :/ the edge of the 3d printed piece just melted out and the place im supposed to insert the servo arm is now curved, it worked, but its damaging the piece a bit :)

later tonight i will try and see if its not easier to separate the cross in two part, and print them on the side already bended, then clipse them.

two U printed from the side, might be a better solution :)

im unlucky so far with the legs, the first version seems to be too big to hold the arms and the new version (cross) doesnt work either, its too flexible now to hold the arms properly, i failed a bit at bending it properly. i will try to reprint the first version a bit smaller :)

Version 1.2 leg1 parts can tolerate more difference, If too much oppressive, just little heating can be adjusted.

i made another version of the legs cross, its smaller than yours, its printing right now, once its done i will see if it works better for me :)
i plan to use my dremel to weld both part.
here is the STL file (im not posting it becasue some holes are still missing for the screws)
https://we.tl/RQKRvnFM5I (print from the sides)


ps : its a very ugly/dirty edit :/ im not too good at designing 3d objects

EDIT : YAY it works fine now, the arm are firmly fixed with my version. maybe my servos are bigger than yours, very strange it wasnt working with the other files :(

Great! I like your maker spirit!

interesting design. thinking of making one of these. When I have time...

Thank you, Go ahead! you must have time!

I love the aggressive look! Awesome!

This will never walk, you need one more servo in each leg to be able to bring the weight close to the body when you lift a leg

Thank you for your suggestion ^_^

oh, i watched the video and at least it seems to crawl, good job

I will improve the robot action later ^_^

looks hot ! good job, any idea when u gonna release the code ?

Great news! code just released!

where did you found this board ? > TinyPlan V400 Servo Control Broad ? google doesnt give any result when i search for it ? :/

haha :) awesome, cant wait to test it, still waiting for my servos to get shipped
thanks a lot !

There is TinyPlan V4 Official FB Page, they are very nice guy, they will be very sincere to help you.

thanks a lot, ordered a board :) cant wait to get it !

I will workhard in coding, please wait few days ^_^